[5][6] Hurlock was born in Hackney and started his football career as an associate schoolboy with West Ham United, becoming an apprentice in April 1975.
[8] After some attention from AFC Bournemouth manager David Webb,[7] Hurlock joined Third Division club Brentford in August 1980 for a £10,000 fee.
[9] He immediately established himself in the midfield alongside Chris Kamara and Stan Bowles, making 42 league appearances and scoring four goals during the 1980–81 season.
[7] Hurlock joined Second Division club Millwall for a £95,000 fee on 12 February 1987 and reunited with former Brentford assistant manager John Docherty,[19] then-manager of the Lions.
[19] Nicknamed 'Terry Warlock' by the Millwall supporters,[20] Hurlock showed impressive form during the 1988–89 season, making 40 appearances, scoring three goals and winning the club's Player of the Year award.
[19] In one season at Ibrox, Hurlock made 35 appearances, scored two goals and won Premier Division and League Cup medals.
[23] He made 36 appearances and scored two goals during the 1991–92 season and was part of the team which reached the 1992 Full Members Cup Final, losing 3–2 to Nottingham Forest after extra time.
[28] Ahead of the 1995–96 season, Hurlock sustained a double leg break at the hands of Brentford defender Martin Grainger in a pre-season friendly between the two clubs.
[30] During his time with Brentford, Hurlock was convinced by chairman Martin Lange to buy a house next to the club's Griffin Park ground.