We present visible and near-infrared observations of a near-Earth object (NEO), 2012 TC 4 . The NEO 2012 TC 4 approached close to the Earth at a distance of about 50,000 km in October 2017. This close approach provided a practical exercise for planetary defense. This apparition was also an appropriate opportunity to investigate 2012 TC 4 , which is a monolithic asteroid (Polishook 2013). We conducted the observation campaign of 2012 TC 4 using six small-and medium-sized telescopes. The multiband photometry analysis showed that the taxonomic class of 2012 TC 4 to be an X-type. In particular, we successfully obtained the high time resolution lightcurve of 2012 TC 4 with the Tomo-e Gozen camera, which is the world's first wide-field CMOS camera, mounted on the 1.05 m Schmidt telescope at Kiso Observatory. The shape and rotational motion models of 2012 TC 4 were derived from the lightcurve. When 2012 TC 4 was assumed to be a triaxial ellipsoid, the rotational and precession periods were 8.47 ± 0.01 min and 12.25 ± 0.01 min, respectively, with the long axis mode. This indicates that 2012 TC 4 is a tumbling and monolithic asteroid. The shape models showed that the plausible axial lengths to be 6.2 × 8.0 × 14.9 m or 3.3 × 8.0 × 14.3 m. The flattened and elongated shape indicates that 2012 TC 4 is a fragment produced by a impact event. We also estimated the excitation timescale, which implied that the impact event happened within ∼3 × 10 5 yr and 2012 TC 4 has a fresh surface.