It was discovered from the images taken by Voyager 2 on 3 January 1986, and was given the temporary designation S/1986 U 2.

[8] It is named after the heroine of William Shakespeare's play Romeo and Juliet.

[7] Other than its orbit,[4] size of 150 × 74 km,[5] and geometric albedo of 0.08,[7] virtually nothing is known about Juliet.

In Voyager 2 imagery, Juliet appears as an elongated object, with its major axis pointing towards Uranus.

The ratio of axes of Juliet's prolate spheroid is 0.5 ± 0.3, which is a rather extreme value.