We report the study of current-induced magnetization switching in the Ta/CoFeB heterostructures by simultaneous magneto-electrical transport and magneto-optical Kerr effect (MOKE) microscopy measurements. Although the anomalous Hall hysteresis loop summarizes the general switching behaviors, the supplementary MOKE data can provide spatial and temporal information to visualize the magnetic domain evolution as functions of the applied current and the in-plane magnetic field. More importantly, when the initial magnetic field is not sufficient enough, the interfacial Dzyaloshinskii–Moriya interaction (DMI) would modulate the spin-orbit torque (SOT) current switching dynamics and lead to the formation of the intermediate Hall resistance plateau with meta-stable tilted domain texture. Our work elucidates the importance of the applied in-plane field and unveils an effective approach to investigate the SOT/DMI-related phenomena in symmetry-breaking magnetic heterostructures.