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Objective Chronic pain is recognized as a significant public health concern. Non-pharmacological interventions are increasingly being recommended and added to the therapeutic arsenal. This study aimed to assess the impact of touch massage (TM) on the experience of patients suffering from chronic pain and hospitalized in a rehabilitation department. Methods We conducted a cluster clinical trial combined with a qualitative exploratory part. A total of 82 participants were included in the study: 39 in the intervention group and 43 in the control group. Participants in both groups received four massage sessions (TM or via a machine) over a two-week period. In both groups, the patient global impression of change (PGIC) and other secondary endpoints (severity and intensity of pain, anxiety/depression, patient-caregiver relationship) were assessed pre- and post-intervention. Sixteen semi-structured interviews were conducted with patients in the intervention group. Results The results of the analysis revealed a small effect (Cohen’s d = 0.42) of the type of intervention on the PGIC. Participants who received the TM tended to perceive more change than those in the control group. The type of intervention had no effect on the other variables (severity of pain, anxiety/depression, patient-caregiver relationship). Six themes emerged from the interviews with the patients: the benefits of touch, the sensation of relaxation, the bond with the person giving the massage, the serene environment, well-being, and the occurrence of memories or emotions. Conclusion Based on a robust methodology, this study shows that TM has a positive impact on the perception of pain relief in patients suffering from chronic pain. TM thus appears to be a useful and relatively easy-to-administer treatment for chronic pains, which are often challenging to treat, with results superior to those that can be obtained with machine-assisted massage. Overall, TM is perceived as a positive experience.