@Kavya Athuluri Don't really have experience with using twilio or the bot service extensively. To debug, you can configure diagnostic settings on your bot service to check the messages.
Also, the documentation to create a TwiML application for messaging configuration does not mention if the URL configured is for a GET or POST. I found that the Twilio documentation provides this option to choose GET or POST. Which one did you choose? I feel it should be GET call in the Twilio app creation.
If the issue still exists after this change you could post a support case from Azure portal for the service team to recommend what could be wrong with the incoming message. Thanks!!