Roy Hodgson’s men were dumped out of the World Cup two years ago at the group stage.
But since their disappointing stint in Brazil, England have bounced back and cruised to Euro qualification.
And Shilton, who amassed a record 125 caps, is confident they can impress in France.
“I do think in terms of ability and skill, we have come on a long way – I think we’ve improved quite a bit,” he said.
“I’m a little bit concerned about us defensively at times.
“But overall the side has progressed quite a bit since the last World Cup.
“On ability, we could do well.