The Chelsea defender was one of several leading players to miss the game in Qatar with an ankle injury.
But after watching a largely second-string side struggle to create chances against the five-time world champions, Terry insisted there was no need for concern ahead of next summer's World Cup finals.
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England have also lost to France, Netherlands and European champions Spain under head coach Fabio Capello, but Terry claims that confidence in the camp remains high.
"We are giving them a lot of credit for the win over us but the game had a friendly written all over it from the start," he said.
"The players were saying afterwards it was difficult to keep that intense pressure on and I think in different conditions it might be different.
"But I don't think Brazil are anything to really worry about. They are a very good side, I am not saying they are not.
"We have to look at our own strengths and qualities and I think we can mix it with the best sides in the world. They've got their weaknesses, like we have."