If you have a low tolerance for risk but want to invest in some ASX dividend shares, then read on.

That's because the three shares listed below could be classed as defensive options with generous dividend yields. Let's take a closer look at them:

The first low-risk ASX share for investors to look at is APA Group. It is an energy infrastructure business that owns, manages, and operates a diverse, $27 billion portfolio of gas, electricity, solar and wind assets.

In February, the company released its half year results and delivered revenue, earnings, and distributions growth. The latter builds on 19 years of distribution growth.

This hasn't gone unnoticed by analysts at Macquarie. They are feeling very positive on the company's outlook and recently upgraded APA Group's shares to an outperform rating with a $9.40 price target.

The broker is also expecting some great (and growing) yields from its shares in the near term. It is forecasting dividends per share of 56 cents in FY 2024 and 57.5 cents in FY 2025. Based on the current APA Group share price of $8.48, this equates to 6.6% and 6.8% yields, respectively.

Another low-risk ASX share that could be a buy is Telstra. It is of course Australia's leading telecommunications company.

Given that some people would rather go without food before giving up their phone and internet access, it's clear to see just how defensive its earnings are.

In fact, it is one of the reasons that Goldman Sachs is bullish on the company. It recently stated that its analysts "believe the low risk earnings (and dividend) growth that Telstra is delivering across FY22-25, underpinned through its mobile business, is attractive."

Goldman currently has a buy and $4.55 price target on its shares.

And thanks to recent share price weakness, investors can expect to receive an above average dividend yield from its shares.

Goldman is forecasting fully franked dividends of 18 cents per share in FY 2024 and then 19 cents per share in FY 2025. Based on the current Telstra share price of $3.85, this equates to fully franked yields of 4.7% and 5%, respectively.

Finally, Transurban could be another low-risk ASX share to buy. It owns a portfolio of toll roads in Australia and North America, as well as a significant project pipeline.

As these roads are always in need, particularly as populations grow and urbanisation continues, Transurban has defensive qualities like the others.

Analysts at Citi like the company and have a buy rating and $15.60 price target on its shares.

As for income, its analysts are forecasting dividends per share of 63 cents in FY 2024 and then 65 cents in FY 2025. Based on the current Transurban share price of $13.29, this will mean yields of 4.75% and 4.9%, respectively.