The original 9K330 Tor was fielded in the late 1980's and has the NATO designation SA-15A. It is based on the GM-355 tracked chassis and fires the 9M330 missile. Since 1991 and improved version entered service. The 9K331M Tor-M is known as the SA-15B and the 9K331M1 Tor-M1 is known as the SA-15C. At first it was thought that the Tor-M1 was a further improved version of the Tor-M, but it is now known that the Tor-M1 only has an improved chassis. The Tor-M uses the improved GM-355M chassis while the Tor-M1 uses the GM-5955 chassis, which is longer and has 7 roadwheels instead of 6.

The Tor-M1T is a trailer mounted version of the Tor. It has a much lower cost than the tracked variant and was developed for export. The trailer is fitted with the same unmanned turret as used in the tracked version. The command center may be fitted on a separate trailer or on the truck that tows the launch trailer. The Tor-M2 is also available in a towed variant, called Tor-M2T. Considering the Tor-M2 is available on an armored wheeled 6x6 chassis the cost benefit of the trailer mounted version is lost. The advantage that remains is that the command center is positioned away from the launcher and radar systems. When an anti-radiation missile strikes it would not take out the crew.

The Tor-M2 is a much improved version of the Tor-M1 that is available since 2009. The Tor-M2 is known as the 9K332 system and its NATO designation is SA-15D. The export version is known as Tor-M2E. The M2 uses a new type of missile and has improved tracking and fire control radars. The Tor-M2 can engage 4 targets simultaneously, which is twice as much as the Tor-M1. The Tor-M2 is available on a tracked and a wheeled chassis. The tracked chassis is similar to the GM-5955 and has 7 roadwheels. The 9A331MK uses the MZKT-6922 6x6 truck as chassis, which was developed specifically for this role. Just like the tracked chassis the 6x6 truck chassis provides good mobility and protects the crew from small arms fire.

The naval version of the Tor system was developed concurrently with the land based version. It is known in Russia as the 3K95 or ZS-95 system and it has the NATO reporting name SA-N-9 Gauntlet. The system uses a variable number of 3S95 8 round revolving drum vertical launchers. Fire control is provided by the 3R95 Podkat radar system which has the NATO designation Cross Swords. The 3R95 consists of a 45 km surveillance radar and a 15 km fire control radar. The response time is 8 to 24 seconds and up to 8 missiles may be fired simultaneously at up to 4 targets.

Kinzhal: Original naval version of the Tor system with similar performance. It uses the 9M330-2 missile. Kinzhal is Russian for dagger.
Yohz: Improved version of the Kinzhal system with similar improvements as the Tor-M1 system. Uses the improved 9M331 missile and is able to engage multiple targets at the same time. Yozh is Russian for hedgehog.
Klinok: Export version of the Kinzhal system with somewhat reduced capabilities.

9M330: Original Tor missile that is used with the original Tor systems. It is believed that it can also be launched from the Tor-M and Tor-M1 systems.
9M330-2: Naval version of the original 9M330 missile. It has a similar engagement envelope as the 9M330 but is improved with guidance similar to the longer range 9M331, allowing two missiles to be launched simultaneously per target.
9M331: Improved version of the 9M330 with improved range and the ability of two missile to be launched at a single target.
9M332: The 9M332 is the latest version of the Tor missile which is used by the Tor-M2 systems.