Background: Chronic pain is a major public health problem. Non-pharmacological interventions are increasingly being used as a complement to chronic pain treatment and are strongly recommended. The aim of this study was to evaluate the impact of Touch massage (TM) on the experience of patients with chronic pain hospitalized in a rehabilitation ward. Method: A non-randomized cluster clinical trial was conducted. Eighty-two participants were included in this study, 39 in the intervention group and 43 in the control group. Participants in both groups received 4 sessions of massage (TM or via a machine) over the course of 2 weeks. For both groups, Patients’ Global Impression of Change (PGIC) in the perception of pain and secondary outcomes (pain intensity, anxiety/depression, patient-provider relationship) were measured at baseline and after the intervention. Results: There was a small effect (Cohen’s d = 0.42) of the intervention type on the score of the PGIC. Patients who received TM tended to perceive more change than participants who received machine massage. The type of intervention had no effect on the other key variables (pain intensity, anxiety/depression, or patient- provider relationship). Conclusion: This study shows with a rigorous and pragmatic methodology that TM has a positive impact on the perception of pain relief in patients suffering from chronic pain. TM appears as a useful and well manageable therapy for these difficult to treat patients and somewhat better than machine delivered foot massage.