Tokyo stocks opened lower Tuesday as investors were in a risk averse mood following the firing of a missile by the Democratic People's Republic of Korea (DPRK) over Japan before markets opened here.

As of 9:15 a.m. local time, the 225-issue Nikkei Stock Average dropped 140.99 points, or 0.72 percent, from Monday to 19,308.91.

The broader Topix index of all First Section issues on the Tokyo Stock Exchange, meanwhile, lost 8.82 points, or 0.55 percent, to 1,591.30.

Oil and coal product, insurance and bank-linked issues comprised those that declined the most in the opening minutes of trade.