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Abstract General relativity (GR) theory modifications include different scalar, vector, and tensor fields with non-minimal gravitational coupling. Kalb–Ramond (KR) gravity is a modified theory formulated based on the presence of the bosonic field. One astrophysical way to test gravity is by studying the motion of test particles in the spacetime of black holes (BHs) using observational data. In the present work, we aimed to test KR gravity through theoretical studies of epicyclic frequencies of particle oscillations using quasi-periodic oscillation (QPO) frequency data from microquasars. First, we derive equations of motion and analyze the effective potential for circular orbits. Also, we studied the energy and angular momentum of particles corresponding to circular orbits. In addition, we analyze the stability of circular orbits. It is shown that the radius of the innermost stable circular orbits is inversely proportional to the KR parameter. We are also interested in how the energy and angular momentum of test particles at ISCO behave around the KR BHs. We found that the Keplerian frequency for the test particles in KR gravity is the same as that in GR. Finally, we study the QPOs by applying epicyclic oscillations in the relativistic precession (RP), warped disc (WD), and epicyclic resonance (ER) models. We also analyze QPO orbits in the resonance cases of upper and lower frequencies 3:2, 4:3, and 5:4 in the QPO as mentioned above models. We obtain constraints on the KR gravity parameter and BH mass using a Monte Carlo Markov Chain simulation in the multidimensional parameter space for the microquasars GRO J1655-40 & XTE J1550-564, M82 X-1, and Sgr A*.