A balloon intercepted by fighter aircraft over Utah on Friday was a "likely hobby balloon" and has since left United States airspace, the North American Aerospace Defense Command (NORAD) said Saturday.

The "small balloon" was allowed to continue to fly above the U.S. after being intercepted Friday morning at an altitude of 43,000 to 45,000 feet because it has been determined not to pose a national security threat, NORAD said.

"After yesterday's fighter intercepts, and in coordination with the Federal Aviation Administration, the North American Aerospace Defense Command monitored the likely hobby balloon via ground radars until it left US airspace overnight," NORAD said in a statement on Saturday.