Landing on an asteroid is a highly valuable endeavor accompanied by significant challenges, making it a promising area for further research. This paper presents a flexible lander specifically designed for asteroid landing missions while also studying the guidance and control techniques involved in its descent phase. Based on the nonsingular terminal sliding mode control, the paper designs the guidance law and attitude controller suitable for the flexible lander, which is highly accurate and robust and does not require reference trajectories. Simulation results show that the proposed technique can achieve a high-precision landing on the asteroid in spite of navigation errors, environmental disturbances, and modeling uncertainties.