YR4 has now been reassigned to Torino Scale Level Zero, the level for 'No Hazard' as additional tracking of its orbital path has reduced its possibility of intersecting the Earth to below the 1-in-1000 threshold.

"An asteroid this size impacts Earth on average every few thousand years and could cause severe damage to a local region," the European Space Agency said.

The space rock caused quite a stir after astronomers first spotted it last year on a trajectory bringing it uncomfortably close to Earth in 2032.