Successful future asteroid landing missions require that the control method provides advanced disturbance rejection performance and strong robustness against parameter uncertainties to give higher accuracy and reliability in the complex space environment. Motivated by the requirement for safe and precise soft landing on asteroids, the finite-time soft-landing problem of an asteroid probe is addressed in this paper via a nonsingular terminal sliding mode (NTSM) control technique. The problem is formulated as a two-point boundary-value constraints control problem, where the initial and terminal requirements of the soft-landing problem are all included in the problem formulations. Then, according to the specific characteristics of the problem, an NTSM control law for soft landing on an asteroid is proposed. Simulation results demonstrate that, compared to the widely used traditional sling mode control method, the proposed method provides a much faster convergence rate, higher accuracies, better disturbance rejection properties and stronger robustness against parameter uncertainties.