Even after the major planets in our Solar System had already formed, these planetesimals -- thousands or millions of them -- still roamed around the Solar System. Many of them ultimately collided with the major planets.

http://www.psrd.hawaii.edu/Jan01/lunarCataclysm.html

This last rush of relatively large collisions is known as the Late Heavy Bombardment or the Lunar Cataclysm. It ended around 3.9 billion years ago.

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