The Spaniard capped an all-action display with a winning goal in the 90th minute, running onto a loose ball after a mix-up between Matija Nastasic and Joe Hart.
Speaking to Sky Sports News afterwards, Torres said: "In a game like this against a great team in the last minutes it tastes much better to score.
"We controlled the game and created many chances but Sergio Aguero can score goals at any time. We won a game we deserved to win, we are really pleased to beat a contender for the title."
Chelsea have moved up to second in the table, two points adrift of league leaders Arsenal, who they take on in the League Cup on Tuesday.