Terry denies the FA charge and has requested a personal hearing.
Terry was found not guilty of racially abusing fellow player Ferdinand after a five-day case at Westminster Magistrates' Court earlier this month which cast a spotlight on racism in football. He said: "I deny the charge and I will be requesting the opportunity to attend the commission for a personal hearing."
A statement from the FA on Friday regarding the incident involving the former England skipper read: "After seeking advice from an external Independent QC, and having considered the evidence and Magistrates' Court decision in the John Terry case, The FA has today charged the Chelsea player following an alleged incident that occurred during the Queens Park Rangers versus Chelsea fixture at Loftus Road on 23 October, 2011.
"It is alleged that Terry used abusive and/or insulting words and/or behaviour towards Queens Park Rangers’ Anton Ferdinand, contrary to FA rules.
"It is further alleged that this included a reference to the ethnic origin and/or colour and/or race of Anton Ferdinand.
"This charge is the result of The FA’s long-standing enquiries into this matter, which were placed on hold pending the outcome of the criminal trial, and relates to rules governing football only.
"During this period John Terry remains available to play for England.
"Terry has until 3 August 2012 to respond.
"The FA will make no further comment during this time."