A Venus-crosser is an asteroid whose orbit crosses that of Venus. There are 2,809^[1] Venus-crosser and 98 outer-grazers known.^[2] Mercury-crossers or grazers are marked ‡.

Venus also has a quasi-satellite, 524522 Zoozve. This asteroid is also a Mercury- and Earth-crosser; it seems to have been a "companion" to Venus for the last 7,000 years or so only, and is destined to be ejected from this orbital arrangement about 500 years from now.^[3]

This list is incomplete; you can help by adding missing items. (August 2008)

• List of Mercury-crossing minor planets
• List of Earth-crossing minor planets
• List of Mars-crossing minor planets
• List of Jupiter-crossing minor planets
• List of Saturn-crossing minor planets
• List of Uranus-crossing minor planets
• List of Neptune-crossing minor planets

• Very Close Approaches (< 0.01 AU) of PHAs to Venus 1900–2200
• Upcoming Close Approaches (< 0.10 AU) of Near-Earth Objects to Venus