Tokyo ESP follows Rinka Urushiba, a part-time waitress in Tokyo who helps support her unemployed father and expects nothing more than an ordinary life. That changes the day she spots a flying penguin drifting through the city sky. When she chases it to the top of a building, she finds even stranger sights: flying goldfish and a classmate, Kyoutarou Azuma, who can see the same impossible things. After a goldfish passes through her body and leaves her unconscious, Rinka wakes up with the power to phase through solid matter.
Her ability comes with one more bizarre sign: whenever she uses it, her hair turns white. Reluctant at first, she decides to put her new gift to use and protect the city, becoming known as the "White Girl." Working alongside Kyoutarou, who gains the power of teleportation, Rinka begins confronting the wrongs hidden in Tokyo while clashing with other espers whose powers are used for far less noble purposes. As their abilities draw them deeper into the city's secret conflicts, Tokyo ESP balances everyday life, superheroic rescue work, and the uneasy rise of a new generation of esper battles.