In the tables below, "Number" refers to an asteroid's classification number--each asteroid, when discovered, is given a unique identifying number.
| Number | Name | Diameter (km) | Mean Distance from Sun (in AU) | Date Discovered | Discoverer |
|---|---|---|---|---|---|
| 1 | Ceres | 1003 | 2.766 | January 1 1801 | Piazzi, G |
| 2 | Pallas | 608 | 2.773 | March 28 1802 | Olbers, H. W |
| 4 | Vesta | 538 | 2.361 | March 29 1807 | Olbers, H. W. |
| 10 | Hygeia | 450 | 3.136 | April 12 1849 | de Gasparis, A. |
| 31 | Euphrosyne | 370 | 3.148 | September 1 1854 | Ferguson, J. |
| 704 | Interamnia | 350 | 3.067 | October 2 1910 | Cerulli, V. |
| 511 | Davida | 323 | 3.170 | May 30 1903 | Dugan, R. S. |
| 65 | Cybele | 309 | 3.437 | March 8 1861 | Tempel, E. W. |
| 52 | Europa | 289 | 3.099 | February 4 1858 | Goldschmidt, H. |
| 451 | Patienta | 276 | 3.060 | December 4 1899 | Charlois, A. |
| 15 | Eunomia | 272 | 2.644 | July 29 1851 | de Gasparis, A. |
| 16 | Psyche | 250 | 2.919 | March 17 1851 | de Gasparis, A. |
| 48 | Doris | 250 | 3.109 | September 19 1857 | Goldschmidt, H. |
| 92 | Undina | 250 | 3.189 | July 7 1867 | Peters, C. H. F. |
| 324 | Bamberga | 246 | 2.682 | February 25 1892 | Palisa, J. |
| 3 | Juno | 240 | 2.667 | 1804 | K. Harding |
| 24 | Themis | 234 | 3.129 | April 5 1853 | de Gasparis, A. |
| 95 | Arethusa | 230 | 3.073 | November 23 1867 | Luther, R. |
| Number | Name | Diameter (km) | Year Discovered | Comment |
|---|---|---|---|---|
| 243 | Ida | 56 × 24 × 21 | September 29 1884 | Visited by Galileo probe |
| Dactyl | 1.4 | 1991 | Moon of 243 Ida | |
| 253 | Mathilde | 66 × 48 × 46 | November 12 1885 | Visited by NEAR Shoemaker |
| 433 | Eros | 13 × 13 × 33 | August 13 1898 | Visited by NEAR Shoemaker |
| 624 | Hektor | February 10 1907 | Largest Jovian Trojan asteroid discovered | |
| 951 | Gaspra | 19 × 12 × 11 | July 30 1916 | Visited by Galileo probe |
| 2060 | Chiron | 170 | 1977 | First Centaur to be discovered |
| 4593 | Reipurth | March 16 1980 | discovered by Claes-Ingvar Lagerkvist | |
| 3753 | Cruithne | 5 | October 10 1986 | Unusual Earth-associated orbit |
| 4179 | Toutatis | 4.5 × 2.4 × 1.9 | January 4 1989 | Will approach Earth closely in 2004 |
| 4769 | Castalia | 1.8 × 0.8 | August 9 1989 | First asteroid to be imaged |
| 5261 | Eureka | June 20 1990 | First Martian Trojan asteroid (L5 point) discovered | |
| 2002 AA29 | 0.1 | January 9 2002 | Unusual Earth-associated orbit | |
| 1950DA | February 23 1950 | Will approach Earth very closely in 2880 |