Benitez took charge of los Blancos last summer but was sacked at the turn of the year following a series of poor results and reports of dressing room discord.
However, Camacho - who enjoyed an illustrious history as a player at the club before going on to lead the team for a short spell in 2004 during Perez's first stint - said Benitez's statements were without basis.
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"Benitez is bitter with Real Madrid. If I was him, I'd keep my mouth shut," the former left-back told Punto Pelota, before describing replacement coach Zinedine Zidane as "pushing all the right buttons".
Madrid's basketball coach Pablo Laso was similarly critical of Benitez, stating: "He talked about the past, what's already happened, and I don't think he said anything new or important.
"But if you have something to say, better to say it when you're inside the club, not outside.
"Me, as a Madridista, I'm happy because the team is looking good, Zidane is going a good job and the players are happy with him."
However, Laso finished with a warning for the France legend, concluding: "When you make mistakes or when the president thinks you're making mistakes, then you're going to have problems."