I wonder if the OP isn't confusing different notions, the idea that everyday objects in free fall have a terminal velocity (atmosphere being assummed) and the fact that there is an absolute speed limit in the universe, the speed of light (in a vacuum).
Terminal velocity as it applies to (say) a person jumping out of an airplane is all about the
friction between the person and the air. There are a few presumptions that go into this scenario. The person is in free fall, meaning that there are no forces (like a rocket motor) pushing him down and no forces (like an updraft) pushing him up. The air density is considered constant, or in a more complicated model is a function of altitude. The frictional coefficient between the person and the air is constant, and the surface area of the person is constant (these last two factors are changed when the person opens his parachute, which presumably he has with him).
The gravitational force pulling the man down is essentially linear, so in the absence of friction his velocity increases at a constant rate. This is the definition of a constant accelleration. But friction with the air varies as the square of the velocity, so the faster he goes the harder it is for the pull of gravity to make him go faster. Once the person reaches the speed at which the frictional force equals the gravitational force, accelleration goes to zero and the person falls with a constant velocity. This is the terminal velocity.
For different objects with different coefficients of friction and surface areas (consider a feather and a bowling ball, or even a bowling ball covered with feathers, or a person with and without a parachute), each has it's own terminal velocity for a given force of gravity and a given atmosphere condition. The force of gravity doesn't change much over distance, unless one is very close to the center of mass of a very dense massive body. If that's the case, terminal velocity is probably the least of their worries.
The speed of light limit is something else entirely, and this is an inherent limit on any type of matter, and has nothing to do with friction. I don't know if that was confusing you or not, but your general use of the term "matter" made me suspect the possibility.