Zlatan Ibrahimovic had not played a Serie A match since the injury against Napoli on 22 November.
After 85 minutes, there was a bit of a mixup on the field as Torino found themselves out of position and their organization level dropped to passable.
At that point, Milan was in a 2-0 lead after two goals in the first half.
Rafael Leao made it 1-0 in the 25th minute.
Just over ten minutes later, Franck Kessie fixed 2-0 from the penalty spot.
Inter second in the league
Torino had a good position in the final minutes, but Milan goalkeeper Gianluigi Donnarumma made a great save.
After 17 rounds, Milan have 40 points, four more than second-placed Inter.
But the neighboring club has played one match less.