Lambert felt his side were denied a clear penalty in their 2-1 Premier League defeat at Stamford Bridge when Terry appeared to block Gabriel Agbonlahor's header with his arm.
The Villa boss also insists Branislav Ivanovic should have seen red for catching Christian Benteke with his arm, the winning goalscorer instead receiving a booking.
Lambert, speaking about referee Kevin Friend, said: "I spoke to Kevin afterwards, and obviously what is said in there stays in there. But I didn't need to speak to him really.
"It was a clear handball. It's a stone-waller, a clear penalty. I don't care what anyone says, that is a penalty.
"Gabby has won the header and it has hit John's hand. I'm pretty sure if it had been down the other end, it would have been given."
No Mourinho rift
Lambert also played down claims of a rift between himself and Mourinho after heated discussions appeared to take place in the technical area.
The 44-year-old added: "I think there has been a lot made of me and Jose in the technical area. There was the odd little thing, but there was a lot of banter between us.
"The two of us were shouting at referees and officials and everything. I'm not going to go there and lie down, and neither is Jose.
"A lot has been made of me moaning - he does his fair share as well, just to
let you know. It is not a problem. We had a bit of banter between us and I saw him afterwards.
"I like him and he is a brilliant football manager. There was never a problem."