The space agency's Asteroid Watch Twitter account said: "The best pass of Super Bowl Sunday is at 4.31pm ET when asteroid 2002 AJ129 harmlessly passes Earth by over 2.6 million miles (4.2 million km), or over 10 lunar distances".
The manager of NASA's Center for Near-Earth Object Studies, Paul Chodas, said that most asteroids this size come this close only once or twice a year.
The astronauts have spotted two asteroids which will be passing by Earth within one lunar distance this week.
While Friday's close approach isn't a huge deal, Chodas reported that "this was a reminder that asteroids this size can pass very close to our planet and it's important to find these objects when they do get to close". NASA has termed this asteroid "potentially hazardous" because an asteroid is classified as "potentially hazardous" if it comes within the 4,600,000 miles distance from our Earth.
It will be the second time this week an asteroid buzzes us.
An asteroid, estimated to be between 15 and 30 metres in size, will safely pass by Earth on Friday, National Aeronautics and Space Administration (NASA) has said.
Another small asteroid passed within lunar distance this week.
This is an artist's illustration of the "Halloween Asteroid" 2015 TB145, which looks like a skull.J.
That was the case at Chelyabinsk, Russia on February 15, 2013; the incoming object - an intense fireball as it entered the atmosphere - caught everyone by surprise.