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We calculate the quasinormal modes (QNM) frequencies of a test massless scalar field and an electromagnetic field around static black holes in $f(T)$ gravity. Focusing on quadratic $f(T)$ modifications, which is a good approximation for every realistic $f(T)$ theory, we first extract the spherically symmetric solutions using the perturbative method, imposing two ans$\ddot{\text{a}}$tze for the metric functions, which suitably quantify the deviation from the Schwarzschild solution. Moreover, we extract the effective potential, and then calculate the QNM frequency of the obtained solutions. Firstly, we numerically solve the Schr$\ddot{\text{o}}$dinger-like equation using the discretization method, and we extract the frequency and the time evolution of the dominant mode applying the function fit method. Secondly, we perform a semi-analytical calculation by applying the WKB method with the Pade approximation. We show that the results for $f(T)$ gravity are different compared to General Relativity, and in particular we obtain a different slope and period of the field decay behavior for different model parameter values. Hence, under the light of gravitational-wave observations of increasing accuracy from binary systems, the whole analysis could be used as an additional tool to test General Relativity and examine whether torsional gravitational modifications are possible.