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For a module $M$ over an integral domain $R$ with field of fractions $K$, its rank is the dimension of $K{\otimes }_{R}M$. The tensor product of modules here extends scalars to a field, turning the question into a dimension calculation. For a free module $R^r$, the result is $r$.

For a finitely generated module over a principal ideal domain, the structure theorem for finitely generated modules over a principal ideal domain gives $M\cong R^r\oplus {⨁}_{i}R/(d_i)$, with $d_i$ nonzero nonunits. Each torsion element of a module vanishes after extension of scalars, because its annihilating nonzero scalar becomes invertible in $K$. Thus $K{\otimes }_{R}M\cong K^r$, proving that the rank is the number of free summands. The rank does not record the torsion submodule: for example, $R\oplus R/(d)$ and $R$ have the same rank.

A torsion module over an integral domain $R$ is a module in which every element is a torsion element of a module. Each element may require a different nonzero annihilating scalar. The module $\mathbb{Z}/6\mathbb{Z}$ is torsion over $\mathbb{Z}$, and the polynomial module from a linear operator $\mathbb{Q}[t]/(t^2)$ is torsion over $\mathbb{Q}[t]$.

If the torsion module is a finitely generated module, one common nonzero scalar kills the whole module: multiply annihilating scalars for a finite generating set. Without finite generation this can fail. The quotient module $\mathbb{Q}/\mathbb{Z}$ is torsion, since the class of $a/b$ is killed by $b$, but no nonzero integer $n$ kills it all: the class of $1/(2|n|)$ survives multiplication by $n$. See Keith Conrad's Modules over a PID, exercise 6.5(c).