Gerrard's side were on the wrong end of a tough decision in their last-16 clash against Germany, when Frank Lampard's potential equaliser was ruled out despite clearly crossing the line - although they were eventually well beaten by the semi-finalists.
During the Europa League, UEFA experimented with extra officials behind the goals - and Gerrard, who experienced that system with Liverpool, believes that is the minimum that should have been in operation in South Africa.
"It was a success then," he is quoted as saying in The Mail on Sunday. "Why not use the same system at the World Cup?
"If there had been a linesman behind the German goal then maybe England would still be in the World Cup."
Gerrard believes players should have more influence in rule changes.
"When these decisions are made they are always made by officials," he said. "They don't play the game, do they?
"The decision not to award Frank's goal was a shocker.
"I was 25 yards out and I could see clearly that it was over the line, so I can't understand why the linesman didn't give it.
"He was a good 20 yards behind play, which is disappointing at this level, and I hope it opens the debate up again about goal-line technology.
"FIFA have to look at it now because what happened with us was scary. It just isn't good enough.
"My opinion is that goalline technology should be brought in and I know I'm not alone in thinking that.
"We have seen a lot of rule changes over the years - most of them good - but I can't understand why there is so much opposition to this technology because we are talking about decisions that can decide things as big as the World Cup.
"What will happen is the decision will be made by people who don't play the game and who aren't affected by these mistakes.
"Why aren't the players ever asked? I'm sure that most of them would vote for goalline technology to be introduced."