If clasp refers to a fastener:
* Unclasp
* Release
* Open
* Unfasten
If clasp refers to a grip or hold:
* Release
* Let go
* Loosen
* Drop
If clasp refers to an embrace:
* Separate
* Part
* Disengage
* Unhug
If clasp refers to a strong hold or grasp:
* Loosen
* Relax
* Weaken
* Let go
The best antonym will depend on the specific meaning of "clasp" in the context.