The centre-half had a scan on Wednesday which revealed no major damage despite initial fears he might have broken a bone and been ruled out of the World Cup.
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"I was just running back to goal and Daniel Sturridge fell on top of me," he said.
"My foot was caught underneath. I thought it was quite bad initially. But once I had the scan it was just bruising and today there was no problem at all," Terry told reporters.
"I was delighted when I got the scan results and there was no ligament damage or anything like that. It was just a bit of bruising inside the foot so no problem at all.
"I felt good today, I felt nothing at all, passing the ball or striking the ball," he added.
"I came straight here to see the doctor and he sent me for a scan straight away. He couldn't tell what it was, it was always going to be a quick scan, nothing serious.
"It was sorted out in a couple of hours but I was a bit scared, I must say. Once I had the scan I didn't wear the (protective) boot, it's just protection really.
"The doctor advised me to keep it on. But once I got the scan results I was back in my normal trainer."
NEWS:World Cup scare for Terry
While Chelsea and England fans might have been worried, Terry's team-mates seemed less concerned.
"I think with JT you would have to run him over a few times before he's not going to play, I knew he was alright," said fellow England squad member Joe Cole.
Midfielder Frank Lampard added: "It's the way of the world now, if someone gets a broken fingernail everyone panics, especially a player as good as John. It was just a brief scare."
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