Chances were few and far between in the first half, with both sides adopting a cautious strategy.
Chelsea, who were better in possession before the break, were kept at bay by United's defense which missed influential pair Rio Ferdinand and Nemanja Vidic.
The first real test to either keeper came after 68 minutes when Chelsea guardian Petr Cech superbly blocked a curling shot from Wayne Rooney.
It was the hosts who took the lead though when skipper Terry towered to head a Frank Lampard free-kick past United's Dutch keeper Edwin van der Sar, with Nicolas Anelka claiming he got the final touch.
"I want it (the goal) because I’ve never scored against Manchester United home or away, but Nicolas was brilliant today so he can have it," Terry told Sky Sports.
French striker Anelka told Showtime Sports, with a smile on his face, that he would watch TV replays to find out who had scored the goal.
Chelsea, who claimed their 11th successive win at home, have 30 points from 12 games.
Defending champions United, who eye a fourth consecutive league title, and Arsenal have 25 points each but the latter still have a game in hand.