Are 1 hour and 55 minutes an okay time to walk 10 kilometers?
Treadmill, or outdoors? There is a big difference wind, elevation, surface, temperature. You do not mention your age, or weight and height.
But to answer your question. You walked 10k, and that is great! The goal now should be to take a minute off your time, and keep doing this until you can say to yourself, THAT WAS A GOOD TIME! The only one who can answer that question is you.
If you are walking for exercise, walk like you are trying to get somewhere, not like you are window shopping. Also once in a while during your 10k walk like you are late for the bus.
NEVER STOP TRYING!