The main purpose of the Infrared Astronomical Satellite (IRAS) was to survey the sky in four infrared wavelength bands centered at 12, 25, 60 and 100 um. Data for 25 comets, 1811 known asteroids and ~TBD asteroids without orbits were obtained and accepted into this IRAS asteroid and comet catalog, which is the largest, least biased and most uniform survey of asteroids and comets. For the IRAS Asteroid Survey, 7,015 sightings from 1,811 individual asteroids that were of sufficient quality have been accepted into the asteroid catalog. Diameters, albedos and various technical parameters have been derived for these minor planet. The IRAS comet catalog contains the detection history for each comet reliably detected in the ADAS search. Positions were searched for all periodic comets that passed near the sun or earth during the period from 1982 to 1985 plus all comets that were observed during that period.