Two days ago the 27 wide Asteroid 2016 TPL just missed our planet by about 850.000 km. This sounds far away, but is actually a very close encounter. The moon is roughly 350.000 km away.
The size of the asteroid would probably be too small to cause any damage as it would vaporize upon entry into the atmosphere. It’s relative velocity was about 52.000 km/h.
NASA is keeping close tabs on these asteroids, but you can do the same using the “Asteroid Alert” App for Google Play (be aware there are two apps). The Screenshot below shows an example and allows you to play time forward and backward tracking Asteroids as they come close.