Torque is how much force there is to rotate an object around a pivot. In the case of cars the pivot would be the drive shafts.
In everyday terms lets use an example of a door. The pivot point would be the hinges and if you push the door on the edge away from the hinge it is easier to push than if you pushed where the hinges are. The torque you provided pushing the door is smaller when you push it near the hinges, meaning more is required to open the door.
If a car has a lot of torque it can turn the wheels easier (there are other variables such as the weight of the car) but generally speaking more torque = easier to turn the wheels = faster acceleration.