I think that Midnight Commander will suite your needs as it needs terminal and provides FTP-client with dual/twin panels as FAR.
But it has one limitation which is serious nowadays. It does not support FTPS (FTP over SSL). There is a 3 year-old bug about that.
For plain FTP you can use Left (or Right) and FTP Link with the following syntax (from F1 help):
┌───────────────────────────── Help ─────────────────────────────┐
│FTP File System │
│ │
│The FTP File System (ftpfs) allows you to manipulate files on │
│remote machines. To actually use it, you can use the FTP link │
│item in the menu or directly change your current directory │
│using the cd command to a path name that looks like this: │
│ │
│ftp://[!][user[:pass]@]machine[:port][remote-dir] │
│ │
│The user, port and remote-dir elements are optional. If you │
│specify the user element, the Midnight Commander will login to │
│the remote machine as that user, otherwise it will use │
│anonymous login or the login name from the ~/.netrc file. The │
│optional pass element is the password used for the connection. │
│Using the password in the VFS directory name is not │
│recommended, because it can appear on the screen in clear text │
│and can be saved to the directory history. │
│ │
└────────────────────────────────────────────────────────────────┘
For SFTP (FTP over SSH) you should use SFTP link with syntax:
┌───────────────────────────── Help ─────────────────────────────┐
│SFTP (SSH File Transfer Protocol) filesystem │
│ │
│The SFTP file system is a network based file system that allows │
│you to manipulate the files in a remote machine as if they were │
│local. │
│ │
│To connect to a remote machine, you just need to chdir into a │
│special directory which name is in the following format: │
│ │
│sftp://[user@]machine:[port]/[remote-dir] │
│ │
│The user, port and remote-dir elements are optional. If you │
│specify the user element, the Midnight Commander will try to │
│login on the remote machine as that user, otherwise it will use │
│your login name. port - specify the port used by remote server │
│(22 by default). If the remote-dir element is present, your │
│current directory on the remote machine will be set to this │
│one. │
└────────────────────────────────────────────────────────────────┘
On GUI session you can try Double Commander (clone of Total Commander), it is installable with sudo apt-get install doublecmd. It has FTP/FTPS and SFTP client, accessed from Network->FTP.
