The former Villa striker says the club desperately need consistency in the dugout and a boss who knows the club well.
Villa moved to the verge of seeing their relegation to the Championship confirmed at the weekend as their home defeat to Bournemouth left them hanging on to their Premier League status through goal difference alone with five matches remaining.
A truly catastrophic season for the Birmingham club has seen them win just three league matches and sack two managers, with Tim Sherwood and Remi Garde both being dismissed after failing to steer the club away from danger.
Under Garde in particular, the club's players had often been accused by supporters of failing to show enough fight or appreciation of the disastrous situation they are in, and Yorke, who scored 97 goals in 284 games for Villa, insists that they must appoint a manager who knows the club well to re-instil passion in the players and disillusioned supporters.
The 44-year-old told Omnisport, as quoted by Goal: "It's a bit of a disappointment [to see Villa relegated] having spent 10 years at the football club. I had a real exciting time there and to see where the club is at this present time, it's not something I am proud of.
"They have been living on a knife-edge for the past five seasons where they've been finishing just above relegation. Now it has caught up on them. There have been four managers in five years. To me that is not consistent enough.
"They need someone who knows the club to get the passion and belief back. Unfortunately it's going to be in the Championship. Aston Villa need to bounce back straight away."
Yorke has previously revealed that he would be interested in being given the opportunity to attempt to lead his former club back to the top flight next season, but given his complete lack of managerial experience he would seem something of a left-field choice.
Villa's relegation will be confirmed next Saturday if they do not beat Manchester United at Old Trafford and see other results go their way.