A method of estimating torque includes disposing at least one measurement assembly at a downhole component, the at least one measurement assembly including a first set of directional sensors disposed at a first axial location along the downhole component, and a second set of directional sensors disposed at a second axial location along the downhole component. The method also includes collecting directional measurement data from the first set of directional sensors and the second set of directional sensors during rotation of the downhole component, and estimating, by a processing device, an amount of torque on the downhole component based on the directional measurement data.