The defender was named as a substitute for the fixture at the Britannia Stadium and replaced Juan Mata after 80 minutes.
Former England captain Terry, who made an appearance for the Chelsea Under-21s earlier in the week, has been out injured since November 11 after a challenge with Liverpool striker Luis Suarez.
Terry came on against Stoke with his side already leading 4-0 thanks to two own goals from Jonathan Walters, a penalty from Frank Lampard and a long-range strike from Eden Hazard.
It wasn't all easy-running for the captain, however, as he gave away a late penalty when clipping Walters. But thankfully for Terry, the striker blazed his penalty over the bar to cap a poor performance for him.