The precise movement of the test mass along a geodesic is crucial for gravitational wave detection in space. To maintain this motion, the core payload-inertial sensor incorporates multiple functional units designed to mitigate various sources of stray force noise affecting the test mass. Understanding the limits of these noise sources is essential for enhancing the inertial sensor system design. Additionally, thorough ground-based verification of these functional units is necessary to ensure their reliability for space missions. To address these challenges, we developed a low-frequency torsion pendulum apparatus that utilizes a commercial autocollimator as the optical readout element for testing this type of space inertial sensor. This paper provides a comprehensive overview of the apparatus’s operating principle, structural characteristics, and the results of laboratory tests of its background noise. Experimental data demonstrate that the torsion pendulum achieves a sensitivity of 1 × 10⁻¹¹ Nm/Hz^1/2 within the measurement band from 1 mHz to 0.1 Hz, confirming its suitability for various inertial sensor tests. Furthermore, the insights gained from constructing the torsion pendulum will inform future system upgrades.