The pre-planned ceremony included a guard of honour from the Chelsea players as the former England captain walked off the Stamford Bridge turf for the last time.
"I don't really care what other people think (about the substitution)," said Terry via Sky Sports.
"It's a celebration between me and the Chelsea fans - 22 years I have been at the football club so honestly I couldn't care less what other people say.
"It's a special relationship between me and the Chelsea fans. They know what it means to me and they gave me an unbelievable send-off, one I will never forget.
"Thank you to them because it was incredible and a moment I will never, ever forget."