The critical exponent $E(\mathbf u)$ of an infinite sequence $\mathbf u$ over a finite alphabet expresses the maximal repetition of a factor in $\mathbf u$. By the famous Dejean's theorem, $E(\mathbf u) \geq 1+\frac1{d-1}$ for every $d$-ary sequence $\mathbf u$. We define the asymptotic critical exponent $E^*(\mathbf u)$ as the upper limit of the maximal repetition of factors of length $n$. We show that for any $d>1$ there exists a $d$-ary sequence $\mathbf u$ having $E^*(\mathbf u)$ arbitrarily close to $1$. Then we focus on the class of $d$-ary balanced sequences. In this class, the values $E^*(\mathbf u)$ are bounded from below by a threshold strictly bigger than 1. We provide a method which enables us to find a $d$-ary balanced sequence with the least asymptotic critical exponent for $2\leq d\leq 10$.