Torres was released from the hospital on Friday following a head-to-head clash with Deportivo La Coruna midfielder Alex Bergantinos, which left him unconscious in Tuesday's 1-1 La Liga draw.
The 32-year-old striker was assisted for several minutes by doctors on the pitch before being taken off on a stretcher and transferred to a hospital.
Atletico said a CAT scan did not reveal any damage to his head or neck, while Torres told local media shortly after being discharged that he was "all well."
Terry - who captained Torres after the forward moved from Liverpool to Stamford Bridge in 2011 - took to Instagram to reach out to his former team-mate, posting a picture of Torres kissing the Champions League trophy he helped Chelsea win in 2012.
Terry posted a message with the picture which read: "Get well soon mate @fernandotorres... Recuperate pronto amigo".
Torres told reporters: "It all turned out to be a big scare, and I am counting the days and hours before I can be back with my teammates."
Doctors have ordered the 32-year-old former Spain striker to wait 48 hours before practicing or playing again.
"In a couple of days I will be able to train again and be back ready," Torres said.
Torres will now miss Sunday's Spanish league match against Valencia.
Additional reporting by Reuters.