A centralizer is provided for centralizing a tubular, such as a drill pipe, in a wellbore. The centralizer has a resilient inner sleeve having three or more protruding members extending radially outwardly from an outer surface of the inner sleeve. The inner sleeve receives the tubular and spaces the tubular from the wellbore. The centralizer further has an outer support body for receiving the outer surface of inner sleeve. The protruding members may be resilient protrusions, hard protrusions and a combination thereof. A method for drilling wellbore using one or more types of centralizers is also provided.