The outage probability (OP) of multiple-input multiple-output (MIMO) amplify-and-forward (AF) relay networks using orthogonal space-time block code is investigated. In particular, a closed-form tight lower bound expression for the OP over independently but not necessarily identically distributed Nakagami-m fading channels is derived. Moreover, an asymptotic approximation for OP which reveals the coding and diversity gains is presented. The analytical expressions are validated by Monte-Carlo simulations.