use Net::DNS;
my $res   = Net::DNS::Resolver->new;
my $query = $res->query("toyota.co.jp", "NS");
if ($query) {
	foreach $rr (grep { $_->type eq 'NS' } $query->answer) {
    	print $rr->nsdname, "\n";
    }
} else {
	warn "query failed: ", $res->errorstring, "\n";
}

__output__

royal.tns.ne.jp
ns1a.toyota.co.jp
ns1b.toyota.co.jp
crown.tns.ne.jp
majesta.tns.ne.jp