We present the discovery of the variable optical counterpart to PSR J2055$+$1545, a redback millisecond pulsar, and the first radial velocity curve of its companion star. The multiband optical light curves of this system show a 0.4-$0.6 \ \mathrm{mag}$ amplitude modulation with a single peak per orbit and variable colours, suggesting that the companion is mildly irradiated by the pulsar wind. We find that the flux maximum is asymmetric and occurs at orbital phase $\simeq 0.4$, anticipating the superior conjunction of the companion (where the optical emission of irradiated redback companions is typically brightest). We ascribe this asymmetry, well fit with a hotspot in our light-curve modelling, to irradiation from the intrabinary shock between pulsar and companion winds. The optical spectra obtained with the Gran Telescopio Canarias reveal a G-dwarf companion star with temperatures of $5749 \pm 34 \ \mathrm{K}$ and $6106 \pm 35 \ \mathrm{K}$ at its inferior and superior orbital conjunctions, respectively, and a radial velocity semi-amplitude of $385 \pm 3 {\mathrm{\, km\, s^{-1}}}{}$. Our best-fitting model yields a neutron star mass of $1.7^{+0.4}_{-0.1} \ \mathrm{M}_{\odot }$ and a companion mass of $0.29^{+0.07}_{-0.01} \ \mathrm{M}_{\odot }$. Based on the close similarity between the optical light curve of PSR J2055$+$1545 and those observed from PSR J1023$+$0038 and PSR J1227-4853 during their rotation-powered states, we suggest this system may develop an accretion disc in the future and manifest as a transitional millisecond pulsar.