Garde parted company with Villa last week, after what was a disastrous time in charge at the Midlands club.
The French boss won just two Premier League matches after taking over Tim Sherwood, but he has still managed to receive some sympathy.
Many felt that Garde was not given a chance by Villa, who failed to back him in the January transfer window.
However, Yorke has slated the former Lyon boss - stating that he failed to achieve the first task required of any manager.
“With Remi going that comes as no surprise,” the former Villa striker said.
“As a manager your job is to improve the team at some stage and Remi failed to do that. The board took action and that is understandable. They’re now trying to get someone who can bring them back into the Premier League.”
Villa are currently on the hunt for a new manager, as they plan for life in the Championship next season.
The Claret and Blues are said to be eager to bring someone in with experience, as they look to bounce straight back from relegation.
Nigel Pearson, Steve Bruce and Sean Dyche are currently amongst the favourites to land the job at Villa Park, while Mick McCarthy has also been linked.
Yorke has also suggested that he will apply for the manager’s job at Villa Park, but he remains an outsider to be offered the role.