Triple Modular Redundancy (TMR) technique is one of the most well-known techniques for error masking and Single Event Effects (SEE) protection for the FPGA designs. These FPGA designs are mostly expressed in hardware description languages, such as Verilog and VHDL. The TMR technique involves triplication of the design module and adding the majority voter circuit for each output port. Building this triplication scheme is a non-trivial task and requires a lot of time and effort to alter the code of the design. In this paper, the RASP-TMR tool is developed and presented that has functionalities to take a synthesizable Verilog design file as an input, parse the design and triplicate it. The tool also generates a top-level module in which all three modules are instantiated and finally adds the proposed majority voter circuit. This tool, with its graphical user interface, is implemented in MATLAB. The tool is simple, fast and user-friendly. The tool generates the synthesizable design that facilitates the user to evaluate and verify the TMR design for FPGA-based systems. A simulation scenario is created using Xilinx ISE tools and ISim simulator. Different fault models are examined during simulations such as bit-flip and stuck at 1/0. The results using various benchmark designs demonstrate that the tool produces synthesizable code and the proposed majority voter logic perfectly masks the error/failure.