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Torque is a measure of how much a force acting on an object causes that object to rotate. The object rotates about an axis, which we will call the pivot point, and will label 'O'. We will call the force 'F'. The distance from the pivot point to the point where the force acts is called the moment arm, and is denoted by 'r'.
They are fundamentally different concepts. Horsepower is a unit of power which is the amount of work (W) which can be performed in a unit of time (t). Torque (tau) is a measure of force (F) applied across a moment arm (r). You can think of horsepower as literally the amount of power that a horse could perform. You can think of torque as the amount of twisting force on a crankshaft. In terms of real world results, torque is that neck-snapping feeling when you take off.