The Verve panel plugin is a comfortable command line plugin for the Xfce panel.
It supports several nice features, such as:

        Command history
        Auto-completion (including command history)
        Open URLs and eMail addresses in your favourite applications
        Focus grabbing via D-BUS (so you can bind a shortcut to it)
        Custom input field width

Homepage:
https://goodies.xfce.org/projects/panel-plugins/xfce4-verve-plugin
