The midfielder played in 218 matches for the Villans, also turning out for Celtic over 300 times.
Stiliyan Petrov - Aston Villa
The 37-year-old was given the warmest of receptions when he took to the field, and after the game had a whole host of fans coming up to wish him well, have pictures taken with him and urge Villa to "sign him up."
And Birmingham Mail editor Mat Kendrick captured the love on video, later uploading it social media.
The Villa and Celtic favourite is attempting to win a new contract at the club after recovering from acute leukaemia that was first diagnosed in 2012.
He has been working with new boss Roberto Di Matteo and his players this summer to get back to match fitness whether the club do offer him a deal or not, but the former Bulgaria international has been featuring regularly in the Villa's preseason matches.
Petrov featured in a comprehensive 8-0 win over Austrian minnows Gak, playing the second half for the Villans, and was also involved in one of the club's two friendly matches on Saturday, coming off the bench in what was a 5-1 win.
The game against Worcester was notable because it was the first match since Petrov's leukaemia diagnosis that he has taken to the field in the UK, and it is clear that he is even more dearly loved than ever after bravely beating the cancer into remission.
Stiliyan Petrov celebrates after scoring for Aston Villa