This paper seems to have some useful data. I'd be happier with a table of crater sizes and ages that I could plug into Octave and fit a regression to, but so far I haven't been able to come up with any decent-sized datasets.
ETA: The Lunar Impact Crater Database could probably do it, if you feel like doing some messy conversion.
From a paper by Milan M. Ćirković, Anders Sandberg, and Nick Bostrom:
There cannot have been a large disaster on Earth in the last millennia, or we wouldn't be around to see it. There can't have been a very large disaster on Earth in the last ten thousand years, or we wouldn't be around to see it. There can't have been a huge disaster on Earth in the last million years, or we wouldn't be around to see it. There can't have been a planet-destroying disaster on Earth... ever.
Thus the fact that we exist precludes us seeing certain types of disasters in the historical record; as we get closer and closer to the present day, the magnitude of the disasters we can see goes down. These missing disasters form the "anthropic shadow", somewhat visible in the top right of this diagram:
Hence even though it looks like the risk is going down (the magnitude is diminishing as we approach the present), we can't rely on this being true: it could be a purely anthropic effect.