Word for the thing that's fixed on the wall and holds a (fire) torch in stories set in the distant past

It is called a sconce. Lexico says

sconce
NOUN

1 A candle holder that is attached to a wall with an ornamental bracket.

Here is a picture of one.

_{Image from pinterest.com}

It's a sconce:

[Merriam-Webster]
1 : a bracket candlestick or group of candlesticks
also : an electric light fixture patterned on a candle sconce

Thanks to some comments, and after rereading the question, the second picture in the question is simply showing an example of torches that would have been pulled out of sconces in the wall.

As others have noted, sconce is more common, and more specifically referring to something holding a long piece of wood.

However, a cresset can also be used to hold a torch. But it more commonly holds either liquid flammables or pieces of loose wood or coals.

cresset

in American English

(ˈkrɛsɪt )

NOUN

a metal container for burning oil, wood, etc., fastened as to a pole or wall and used as a torch or lantern

https://www.collinsdictionary.com/us/dictionary/english/cresset