Dactyl

The itsy-bitsy Dactyl was only discovered by happenstance; in 1993, NASA’s Galileo spacecraft swung by an asteroid named 243 Ida, and spotted a small moon orbiting the space rock.
Dactyl proved that asteroids could have moons, and thanks to Galileo, we have an image of the petite satellite, probably borne of the same collision of ancient objects that created Ida.