Terry was accused of racially abusing Anton Ferdinand during a Premier League match between Chelsea and QPR in 2011.
The former England skipper was acquitted on racial abuse charges the following year, but was banned for four matches and fined £220,000 by the Football Association.
While Terry made a public apology after being punished by the FA, Ferdinand says that the Blues captain never personally apologised for the damage his actions caused.
“He never apologised to me or Anton and has never hinted he has had a moment of understanding over the damage his stupidity has inflicted on everyone,” Ferdinand wrote in his autobiography, which will be released later in the year.
“There were bullets in the post and unending racist abuse. He could have saved everyone a lot of pain by admitting immediately that he had used the words in the heat of the moment, but was no racist.
“I think that’s probably what happened and what the truth is. Anton and I would have accepted that – instead he never gave us the chance.
“I’ve never actually spoken to John about the case. I no longer talk to him, but even three years later I find it impossible to forgive or forget the pain he put my family through.”