The 73-year-old said that the Three Lions deserve as much respect as their rival nations at the 2014 tournament which begins this Thursday 12 June, including host nations, Brazil.
Asked about England's chances in the coming tournament, Pele said: "England - like Brazil, Italy, France - have a reputation. We must be prepared for them.
"We have to respect England because they have the same chance as what we have."
Widely regarded as one of the greatest footballers of all time, Pele previously won the World Cup in 1958, 1962 and 1970 with his native Brazil.
Pele nominated a clash between Brazil and Uruguay as his first choice for the final, hoping to gain revenge for the shock 2-1 defeat 64 years ago to their fellow South American rivals at the Maracana in 1950.
"I prefer Brazil face Uruguay, then you have the revenge," Pele added.
Brazil open the tournament on 12 June against Croatia as favourites with the bookmakers for success, also facing Mexico and Cameroon in Group A.
England meanwhile start their Group D campaign against Italy on 14 June, before taking on Costa Rica and Uruguay. Click here to compare betting odds for England in the 2014 World Cup
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