2002 NT7 is closest at 16.50 today, UTC time. It will be 61 million kilometers away and they know the distance exactly to within 127 kilometers, and the time of the flyby accurate to the nearest minute. It is no risk to Earth.
It is already well above our orbit though, it crossed the orbit of Earth several days ago on the 8th. And 61 million kilometers is further away than Mars at its closest. It is not very close.

Earth's orbit in blue, 2002 NT7 in white.
More details here