Bicq is an attempt to bring connection to ICQ services to the popular BitchX IRC client. It uses BitchX's built-in plugin system to allow users to connect to and chat on the ICQ system as well as the IRC networks. It runs entirely inside the BitchX application, and uses that application's standard interface with its provided commands.

Eicq is an ICQ client written in Emacs Lisp and C. It supports most standard features of the ICQ client, along with interactive customization through XEmacs Custom widgets, key binding, scripting in Elisp, sending/receiving of multi-lingual messages (on XEmacs with Mule), and a mouse toolbar.

Though that last one is graphical I think there are other messengers for emacs that are in console. Here is the search results from freshmeat on console based icq programs.