The Football Association found Terry guilty of racially abusing QPR defender Anton Ferdinand last month and banned him for four games whilst fining him £220,000.
"Yes, I would shake John Terry's hand," Roberts told BBC Sport.
When asked if he thought the Chelsea skipper was a racist, Roberts refused to give an answer and replied: "I would shake John Terry's hand, definitely."
|FERDINANDS DISAPPOINTED WITH PFA
|The brothers released a statement making clear their opinion that not enough has been done to tackle racism, in light of abuse suffered by Anton.
The former Blackburn forward led a recent boycott by black players of t-shirts bearing the 'Kikc it Out' logo before Premier League games, in protest of what Roberts believes is a soft punishment for Terry.
The Professional Footballers' Association recently released a dossier, outlining a six-step plan to help eradicate racism from football, including the introduction of measures to ensure more black candidates are interviewed for managerial jobs, an adaptation of the 'Rooney Rule' in effect in the NFL.
"I know the PFA have been very strong on this particular issue and have done a lot of work behind the scenes," Roberts added.
"I've spoken before about the Rooney Rule and my own personal view is that an equivalent of that on some level would help to give ethnic minority coaches and managers an opportunity to at least be involved in the interview process.
"From a personal point of view, I think it will be a good thing, but whether the PFA will be able to help make that happen we'll have to wait to see. But on this particular issue, their work has been outstanding.
"If you look at the impact it has had in American Football, it shows that if you give people the opportunity to stake their case they are more likely to get the job. But the PFA can only propose it, they cannot put it in place."