Is there any messianic prophecy in Torah?

I assume you are referring to the first five books of the Hebrew Bible.  If so, then yes, definitely.  I suppose some would argue that there is a greater proportion of messianic prophecies in the Psalms and the Prophets, but there are plenty of messianic prophecies in the first five books.  Let me give a few examples:

Deuteronomy 18:17-20.  Jesus is the “prophet like” Moses.

Genesis 50:8-10.  Here, Judah, from Jesus was descended, is the one who will hold the scepter and the ruler’s staff. He is “he to whom it belongs.”  Even the colt and the wine references are to Jesus.

Genesis 3:15. Jesus is the one who will crush the head of Satan.

There are many foreshadow and prefigure references to the Messiah as well.  For example, in Genesis 22:1-12, Isaac is a prefigure of Christ as the only Son who is offered as a sacrifice, who carries the wood up Mt. Moriah (the same hill Jesus carried the cross up the same mountain) and is, figuratively, raised from the dead on the third day (Hebrews 11:17-19.

There are more, but these are my favorites from the Pentateuch.

John Oakes