The alleged incident occurred during the Premier League game between the two clubs on 23rd October 2011 and Terry was subsequently charged by police with a racially aggravated public order offence.
Terry was in July cleared in court of using a racial obscenity towards Ferdinand but faced a fresh inquiry from the FA.
The centre-half will still be available to play for England while the inquiry continues but he has denied the charge and requested a personal hearing.
An FA statement read: “John Terry has today [Friday 3 August 2012] denied an FA charge of using abusive and/or insulting words and/or behaviour, which included a reference to ethnic origin and/or colour and/or race, towards Queens Park Rangers’ Anton Ferdinand.
“The Chelsea player has requested a personal hearing, the date of which will be set in due course. During this period John Terry remains available to play for England.
“The FA will make no further comment during this time.”