England's senior players were shocked by the scenes in Serbia suffered by their U21 counterparts.
He said: "The disappointing thing with what happened last night is it means you are back to square one.
"We seemed to be making great strides forward to get it (racism) out of our game.
"With a situation like last night, it brings it back to square one. It is very disappointing but a lot of people above me need to take control of the situation. The authorities have to get tough. It is the only solution. No-one else can do anything about it.
"They are the people in control, who can give out massive huge fines and ban people. Why wait? Do it now."
Tottenham striker Jermain Defoe echoed Gerrard's sentiments.
He said: "I've had a few texts and, from what I understand, it was tough out there for the boys.
"Under 21s and seniors are such big games to play in and all you want to do is to be equal to everyone else.
"If you are getting those sort of chants, it is not nice. It is not nice to experience anything like that."