Terry was booked for his high tackle on Milner during the second half of their 3-0 FA Cup semi-final victory on Saturday, a challenge labelled "horrendous" by Villa boss Martin O'Neill after the game.
The Chelsea defender tried to speak to his England colleague after the game but found Villa's dressing room locked.
Terry and Milner exchanged a number of text messages on Sunday night but it is understood the Chelsea player did not feel the need to say sorry.
"I think the yellow card was right," Chelsea coach Carlo Ancelotti said today. "I saw the tackle on the television. John touched the ball before making contact with Milner.
"I know that Terry called Milner and, for Milner, it was okay. I think the decision of the referee was right.
"It was a yellow card. The rules say that, if you have the intention to touch the ball, it's not a red card.
"I know he tried to speak with Milner after the game on Saturday. He went to their locker room but it was locked.
"For him, I don't think it was a problem to say sorry. It was just a tackle. I know O'Neill was upset but there's no news."
A spokesman for Chelsea added: "They texted each other last night and John was checking to see if he was okay. He didn't say sorry."
Meanwhile, Ancelotti's side are now favourites to become the seventh club in history to achieve the League and FA Cup double.
Manchester United's goalless draw with Blackburn on Sunday left Chelsea a point ahead at the summit with a game in hand.
That was enough to prompt Sir Alex Ferguson to launch his latest version of mind games by suggesting that the title was now Chelsea's to lose.
"I hope that Alex is correct," Ancelotti added. "Maybe before you can say it will be easy, but I haven't played an easy game this season.
"To play and win at Blackburn is not easy. They're a strong team at home. They drew against United, and that was a good result for us, but only if we win tomorrow.
"No matches are easy, even if you go out and score a lot of goals in the game itself. No, it's mind games. Ferguson is clever.
"On paper we are favourites against Bolton, but only on paper. It's normal that Chelsea will win in theory, but we need to go out and achieve this.
"The title is in our hands. We are able to do our best, to maintain this level, we can win it."
The situation is simple for Chelsea. Win their last five league games and beat Portsmouth in the FA Cup final on May 15 and the double is theirs.
But Ancelotti wants his players to forget about such an achievement in a bid to guard against complacency.
"We are excited because we are involved in the most important competitions in England," added the Italian.
"We have real possibilities to win them, but we know also that there are a lot of games. Five games are not too much, but they are important.
"Every game we need to do our best because every game will be difficult. Bolton will not be an easy game because they didn't play on Saturday.
"They will come to Stamford Bridge fresh. They can do a game with high tempo, so we have to pay attention. Bolton is one of the most important games of our season.
"Now is not the moment to think 'If we win the double' or not. The most important thing is to stay focused game by game. Our minds are focused on the Bolton game. Nothing else.
"We don't want to think about what might happen in a month. We have to wait, stay calm and focused. And, tomorrow, we have to improve our position and send United four points away. That's the most important thing.
"Maybe, if we are able to do this tomorrow, it could be a very important step towards winning the title."