England’s 2-0 defeat of Wales in the Euro 2012 Qualification stages on Saturday bore the shadow triggered by England boss Fabio Capello reinstating Terry as Captain.
He was consequently heavily criticised for failing to confer with the former skipper, Manchester United’s Rio Ferdinand, beforehand.
"I did actually get a call. The manager spoke to me. He spoke to me and just explained what he'd been doing; he didn't have to,” Gerrard told Sky Sports.
"The manager's paid to make big decisions and he's made the decision and I think we all have to respect it and move on."
The 30-year-old believes that after a vital 2-0 win at the Millennium Stadium on Saturday, courtesy of goals from Frank Lampard and Darren Bent, the controversy about the captaincy will be put behind.
England managed a comfortable win in a 4-3-3 tactic set by the Italian boss.
Gerrard added: "The captaincy's very important and I'm really pleased for John that he's got it back because I know what it means to him.
“I know he's been frustrated since he lost it," he said.
"We have to all respect the manager's decision. The good thing is that we went on and won the game and played well.
“We can all move on from the captaincy thing now. Everyone's obviously upset for Rio because he hasn't done anything wrong to lose it.
"Everyone's pleased for John and as a player being in the middle it's difficult."
However, Liverpool team-mate Jamie Carragher believes that things could have been dealt with more carefully to avoid the controversy.
He said: "I think we'd all look at it and think it could have been handled a bit better."
"I think captaining England is a massive thing. It's a huge honour to be captain of England,"
"For me I think John Terry's a great captain, has been a great captain and will be a great captain and if Capello thinks that's right for England then he's got to do it, no matter how much criticism he gets.”