| Time of discovery of asteroids which passed within 1 lunar distance from Earth in 2021
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- After closest approach: 70 (45.5%)
- < 24 hours before: 33 (21.4%)
- up to 7 days before: 50 (32.5%)
- > one week before: 0 (0.0%)
- > 7 weeks before: 0 (0.0%)
- > one year before: 1 (0.6%)
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| Counts of confirmed asteroids which were discovered on their 2021 close approach, by discoverer
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- G96 Mt. Lemmon Survey: 53 (37.3%)
- F51 Pan-STARRS 1, Haleakala: 17 (12.0%)
- T05 ATLAS-HKO, Haleakala: 13 (9.2%)
- 703 Catalina Sky Survey: 12 (8.5%)
- T08 ATLAS-MLO, Mauna Loa: 11 (7.7%)
- I41 ZTF, Palomar Mountain: 10 (7.0%)
- 381 Tokyo-Kiso: 9 (6.3%)
- K88 GINOP-KHK, Piszkesteto: 6 (4.2%)
- W94 MAP, San Pedro de Atacama: 5 (3.5%)
- F52 Pan-STARRS 2, Haleakala: 4 (2.8%)
- V00 Kitt Peak-Bok: 2 (1.4%)
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| Prediction accuracy for asteroids of magnitude 27 or larger nominally predicted to pass within 1 lunar distance of Earth in 2021[note 1]
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- Unpredicted: 11 (91.7%)
- Predicted but not observed: 1 (8.3%)
- Observed but details incorrect: 0 (0.0%)
- Distance correct but not date: 0 (0.0%)
- Date correct but not distance: 0 (0.0%)
- Successfully predicted: 0 (0.0%)
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Below is the list of asteroids that have come close to Earth in 2021.
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