The asteroid will be approximately 745,000 miles away - about three times the distance between the earth and the moon.
Experts at NASA's Near Earth Object Program believe the asteroid will not be visible to the naked eye. The asteroid is expected to be visible through small telescopes and strong binoculars.
The asteroid was discovered in 2004, and Monday's pass is believed to be the closest the asteroid will come to Earth for the next 200 years.
The Associated Press contributed to this report.