I’ve never been particularly terrified of public speaking. It’s a lot like diving into cold water: sure, there’s a lot of anxiety before you take the plunge, but once you’re in the water, you just have to start swimming.
That being said, I’ve never been particularly good at public speaking, either.
Ted Gioia’s article “Ted’s 10 Rules for Public Speaking” is the best, most pragmatic advice I’ve ever read on the subject. I will definitely be reviewing it the next time I have to give a talk. There’s some good stuff in the comments, too.