Cruithne was discovered on October 10, 1986, by Duncan Waldron on a photographic plate taken with the UK Schmidt Telescope at Siding Spring Observatory, Coonabarabran, Australia.
Cruithne foi descuberto por Duncan Waldron o 10 de outubro do 1986 sobre unha placa fotográfica tomada polo telescopio UK Schmidt do Siding Spring Observatory en Coonabarabran (Australia).