Benitez spent six months at the Blues in the 2012-13 season, winning the Europa League at the end of his spell at the club.
"It was tough, I have to be honest. When he first came, I was really looking forward to working with Rafa initially," Terry told Sky Sports.
"The supporters never took to him and wanted him out from day one. You could say he was quite successful, we won the Europa League under him of course, but for me personally you want to develop and learn.
"I'd seen tactically how he'd set up against us previously. You give everyone a fair chance and it's down to them to prove to you otherwise, but we just didn't get on from day one."
Terry also revealed: "Every meeting we had it was, 'We used to do this at Liverpool'.
"I was injured when he arrived, and then I struggled to be fair. I was out for probably six weeks, but then I was working back towards fitness, I played in a couple of games, away at Fulham, scored two, he dropped me for the next game. It was all those little bits that added up."