At one point, the odds of a strike in 2032 were as high as about 3 per cent and topped the world's asteroid-risk lists.
ESA has since lowered the odds to 0.001 per cent.
NASA has it down to 0.0017 per cent - meaning the asteroid will safely pass earth in 2032 and there is no threat of impact for the next century.
Paul Chodas, who heads NASA's Center for Near Earth Objects Studies, said there is no chance the odds will rise at this point and that an impact in 2032 has been ruled out.
"That's the outcome we expected all along, although we couldn't be 100 per cent sure that it would happen," he said in an email.
But there is still a 1.7 per cent chance that asteroid could hit the moon on December 22, 2032, according to NASA.
Chodas expects the odds of a moon strike will also fade.
The world's telescopes will continue to track the asteroid as it heads away from us, with the Webb Space Telescope zooming in next month to pinpoint its size.
It is expected to vanish from view in another month or two.
Discovered in December, the asteroid is an estimated 40 metres to 90 metres across, and swings our way every four years.
"While this asteroid no longer poses a significant impact hazard to earth, 2024 YR4 provided an invaluable opportunity" for study, NASA said in a statement.
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