It is not probable that torture in the ordinary sense was administered to Galileo, though it was threatened.

See Th.

Martin, Vie de Galilee, for a fair summing up of the case.
He was vanquished indeed, for he had been forced, in the face of all coming ages, to perjure himself.

To complete his dishonour, he was obliged to swear that he would denounce to the Inquisition any other man of science whom he should discover to be supporting the "heresy of the motion of the earth." Many have wondered at this abjuration, and on account of it have denied to Galileo the title of martyr.

But let such gainsayers consider the circumstances.