To do this is very easy, it’s enough add the nautilus-open-terminal extension to the file manager Nautilus with the following command:
sudo apt-get install nautilus-open-terminal
At the end you have to restart you job session to find and use the new menu item in Nuatilus.
Now, clicking with right button on a folder you will find the new menu item Open in Terminal like in the following picture:
Clicking on Open in Terminal the Terminal will be opened inside the path of the folder selected.
Convenient, isn’t it?