New rules went into effect Monday requiring people traveling to the U.S. under the visa waiver program to register online in advance, instead of filling out paper forms in flight or at the airport.

The new program, designed to improve U.S. security, has been voluntary since August, but became mandatory Monday. Travelers are being asked to fill out the forms at least 72 hours in advance of travel.

The rules cover the citizens of 35 countries — from nations in Europe and Asia, to Australia and New Zealand — who don't require a visa to enter the U.S.

Travelers filling out the online form will be told whether their request is authorized, denied or pending. Those who are marked "pending" must check back in 72 hours to see if they have been approved.

The U.S. Homeland Security Department said in a statement that it will take a reasonable approach to travelers who have not obtained an approved travel authorization, but warned that travelers without authorization do risk being delayed or denied entry to the U.S.

There is no fee for the service, and the travel authorization is valid for two years. People can apply for travel authorization at any time

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