Its nearest approach to Earth, about 7,500 miles, was 30 times farther away than the International Space Station, which orbits the planet at a distance of 250 miles.
On a more celestial scale, the asteroid's closest distance to Earth was just 3 percent of the 250,000 miles separating the Earth from the moon.
An object about the same size as Monday's near-Earth asteroid, designated by scientists as 2011 MD, zips past the planet at about the same distance every six years, according to JPL.
Even if an asteroid the size of 2011 MD ever entered the Earth's atmosphere, it would likely burn up and cause no damage to the planet, JPL said.
(Reporting by Alex Dobuzinskis: Editing by Steve Gorman and Peter Bohan)