Benitez was in charge of Spanish giants Madrid from June 2015 until January 2016.
The former Liverpool boss, currently the manager of Newcastle United, did not have a great time at the Santiago Bernabeu.
The fans were not happy with the way Madrid played under the Spaniard, who seemingly did not have a great relationship with the players.
Zinedine Zidane was appointed the Madrid head coach following the departure of Benitez, and the Frenchman has done well over the past few months.
Madrid narrowly missed out on the league title in Spain and have reached the final of the Champions League.
Spain international defender Ramos has underlined the difference between Zidane and Benitez.
“We have a great relationship with Zizou,” the 30-year-old told La Gazzetta dello Sport. “I have a relationship that has grown since I played with him but everyone knows him as the second Carlo Ancelotti.
“The great relationship he had with the team turned into a friendship and made things easier. That was missing with Benitez.”
Benitez took over struggling Newcastle in March 2015, but he failed to keep the Magpies in the Premier League.
Newcastle will play in the Championship next season, and the Spaniard will remain in charge. The Magpies will find it hard in the second tier of English football, as it is a very competitive and physical division.