Salomon Kalou made up for a shocking early miss to score twice and Frank Lampard added a third before Luis Perea scored an own goal.
With nine points from three Group D games, even without the suspended Didier Drogba, Chelsea look well set to reach the first knock-out round. Likewise, Manchester United, who won 1-0 at CSKA Moscow for their third win in Group B.
Right on cue: Salomon Kalou scores against Atletico Madrid
Chelsea boss Carlo Ancelotti said: 'We are in control of the group, but our aim is to arrive in first place. That's important for our future in the Champions League and it's still not certain.
'We have to secure more points in the group. It's not been easy without Drogba, but all the players have done very well in this competition so far.
'Kalou is an important player for us because, when we are without Drogba, he can play and play well.
Glee: Malouda gets a lift after the fourth goal
'He started the game "no good" because he made a big mistake, but hemaintained good motivation and good focus on his match to score twiceafter that. For him, it was very important to score.'
Reflecting on his first goal in 10 matches for Chelsea, and his first from open play this season, Lampard said: 'Sometimes the goals don't come and it's been like that for me recently. But I always believed and knew I had to keep working hard and the goals would come with a bit of luck. It was a great performance from everyone tonight.'
Ancelotti admitted it was vital Chelsea kept a clean sheet after conceding two setpieces in their 2-1 loss at Aston Villa last Saturday.
High five: Frank Lampard Lampard struck to become Chelsea's fifth top scorer
He said: 'We did better at set-plays, and we scored two goals from our own set-plays.'
Atletico coach Abel Resino said: 'It's one of those bitter tastes. We probably had as many chances as Chelsea, but the ball just didn't want to go in the net for us.'
Chelsea's Michael Essien was lucky to avoid a caution when he overran the ball and clattered into Atletico's Paulo Assuncao.
Chelsea star Zhirkov feeling just grand after backing Kazan to bash BarcaChelsea v Atletico: The action as it happenedChelsea 4 Atletico Madrid 0: Frank Lampard back on goal trail after Kalou lands the KOMutu's £17m Chelsea fine payment delayed after Swiss Court ruling
Explore more:People:Carlo Ancelotti, Michael Essien, Frank Lampard, Didier Drogba