The present paper investigates the torsional wave propagation in a threefold concentric pre-stressed compounded cylinder with imperfect contact conditions. The three-dimensional linearized theory of elastic waves and the piecewise homogeneous body model has been employed to formulate the problem. The mathematical modeling has been carried out in two independent cases. In the first case, a solid cylinder encased in a hollow cylinder embedded in an infinite elastic medium has been considered. Whereas the second case comprises a hollow cylinder of finite thickness in place of a solid cylinder. By means of Murnaghan potential, the mechanical characteristics of the three materials have been used. Further, the dispersion relations for both the cases have been obtained in terms of the Bessel and modified Bessel functions. In order to validate the present findings, two particular cases have been derived that matches with the previous works. The first case is obtained by removing the outermost cylinder, while the second case has been derived by removing the imperfection in addition to that. To summarize the computations, a complete numerical simulation has been carried out, and graphical illustrations have been shown to aid the mathematical analyses.