To view the Kali Linux version that you have installed, use the following command in terminal :
uname --all
An example of version is as follows :
Linux Ubuntu 4.14.0-kali3-amd64 #1 SMP Debian 4.14.12-2kali1 (2018-01-08) x86_64 GNU/Linux
Through the Firefox ESR browser, Download Tor Browser from the following URL :
https://www.torproject.org/dist/torbrowser/7.5.4/tor-browser-linux64-7.5.4_en-US.tar.xz
The file will then be downloaded in the following folder :
~/Downloads/tor-browser-linux64-7.5.4_en-US.tar.xz
Uncompress the file from the file explorer (right click on the file then uncompress it) and you will then have the following folder :
~/Downloads/tor-browser-linux-64-7.5.4_en-US
From the file explorer copy all the files (but not the file named "tor") from :
~/Downloads/tor-browser-linux-64-7.5.4_en-US/tor-browser_en-US/Browser/TorBrowser/Tor/
To the following directories :
/lib/
/usr/lib/
Then in a terminal go to the following folder :
~/Downloads/tor-browser-linux-64-7.5.4_en-US/tor-browser_en-US/Browser/TorBrowser/Tor/
And start tor by entering the following command :
./tor
That's it !
You should then see the following output :
If you need to have access to the "tor" command from any terminal, just copy the "tor" file in the following folder :
/usr/bin/