Roy Hodgson's side are in Group D alongside Italy, Uruguay and Costa Rica, and while the former left-back thinks that the national side will advance, he claimed that they will be eliminated at the last-eight stage in Brazil.
Speaking to Sky Sports News, he said: "It'll be difficult going to that continent, I went three years ago with the Under-20 squad to Colombia, and the heat, the humidity and the altitude was tough there. For a European side, that'll be tough.
"I think there's a nice balance in the squad age-wise, I really do, and I can see them getting out the group, but beyond the quarter-finals, I don't see it."
Pearce will take over as Nottingham Forest boss next season.