Calum McFarlane has been named as caretaker manager after yesterday's dismissal of Liam Rosenior.
Townsend says Terry, who is working inside the club's academy, should be involved.
"I would have gone right now for John Terry," Townsend told talkSPORT. "Someone like that. To pick the fans up, to try and galvanize the players a little bit, just put a little bit of a spring back in people's steps.
"McFarlane... I'm not sure how much that is going to really inspire those players who looked pretty empty and were staring at their own punters down at Brighton last night."
He added: "I think it wouldn't have done them any harm at all to have got someone in with a bit of clout, a bit of repute, a reputation.
"Someone with a voice that gets everyone to listen. Someone that isn't afraid and someone that doesn't pander to these boys.
"I look at that Chelsea team and I see a load of guys… I think they're being pandered to every five minutes. I really do and I think it's a big problem when you have the amount of players they have and the turnover of players they have.
"I think it's been too much of this arm around shoulders trying to bring players up into a really comfortable environment.
"Top class Premier League and European football is a tough business for tough boys. Chelsea have got a lot of soft boys."