The club icon blasted his counterpart for comments made against the club earlier in the week and praised replacement coach Zinedine Zidane's impact
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.
READ MORE | Jese: Zidane gives us all confidence
"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."