A major challenge for gravitational-wave (GW) detection in the µHz band is engineering a test mass (TM) with sufficiently low acceleration noise. We propose a GW detection concept using asteroids located in the inner Solar System as TMs. Our main purpose is to evaluate the acceleration noise of asteroids in the µHz band. We show that a wide variety of environmental perturbations are small enough to enable an appropriate class of ∼ 10 km-diameter asteroids to be employed as TMs. This would allow a sensitive GW detector in the band (few) × 10 −7 Hz fgw (few) × 10 −5 Hz, reaching strain hc ∼ 10 −19 around fgw ∼ 10 µHz, sufficient to detect a wide variety of sources. To exploit these asteroid TMs, human-engineered base stations could be deployed on multiple asteroids, each equipped with an electromagnetic (EM) transmitter/receiver to permit measurement of variations in the distance between them. We discuss a potential conceptual design with two base stations, each with a space-qualified optical atomic clock measuring the round-trip EM pulse travel time via laser ranging. Tradespace exists to optimize multiple aspects of this mission: for example, using a radio-ranging or interferometric link system instead of laser ranging. This motivates future dedicated technical design study. This mission concept holds exceptional promise for accessing this GW frequency band.