The 35-year-old defender has missed the last five matches with a hamstring problem sustained in the 5-1 win over Newcastle on February 13.
Terry took part in training two days later but then did not travel to Paris for the first leg, which Chelsea lost 2-1.
The skipper missed the 15 minutes of Tuesday’s session which was accessible to the media, but striker Diego Costa was present after missing last Saturday’s draw with Stoke as a precaution due to a minor tendon problem. Kenedy (groin) and Pedro (hamstring) also took part.
The Blues are up against PSG for a third-straight season in the competition. Chelsea won the quarter-final tie in 2014 on away goals, but were defeated at the last-16 stage in 2015 by the same method.
Chelsea’s only defeat since the appointment of interim boss Guus Hiddink was at Parc des Princes in the first leg on February 15, but John Obi Mikel scored a vital away goal in the 2-1 loss.
The Blues drew in Paris last season before a 2-2 draw after extra-time in the return at Stamford Bridge saw PSG advance on away goals scored by David Luiz and Thiago Silva, despite the first-half dismissal of Zlatan Ibrahimovic. Twelve months earlier the late intervention of Demba Ba saw Chelsea advance to the semi-finals.