The Blues made nine changes for the third-round tie and almost trailed when Asmir Begovic saved Lee Angol's close-range header.
But Antonio Conte's side had 20 shots by half time, with Pedro's curled finish and a drilled Michy Batshuayi effort giving them a cushion, before Willian drove in from 18 yards after the break.
Terry saw red for bringing Angol down as the last man and Tom Nicholls prodded in from six yards for a buoyed Posh, only for Pedro to restore a three-goal advantage from the edge of the box.
Terry's error will draw scrutiny but Chelsea were impressive in responding to defeat at Tottenham, their first in 11 matches in all competitions.
They exuded energy from the off, with players such as Nathaniel Chalobah and Ruben Loftus-Cheek impressing in midfield as Chelsea reached round four for the 19th season in a row.
Antonio Conte's side will learn their opponents in Monday's live draw on BBC Two and online from 19:00 GMT. The fourth round tie will take place on the weekend of 28 January, three days before they are scheduled to travel to second-place Liverpool in the Premier League.
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