After missing Spurs' opening league games, Aurier made his way into the starting XI against Crystal Palace a fortnight ago where he notched a brace of assists in their 4-0 win at the Tottenham Hotspur Stadium.
Following his absence in their Uefa Champions League opener against Olympiacos, the Ivory Coast international was involved in Tottenham's Premier League loss to Leicester City last Saturday where he had a goal chalked off.
When quizzed about Aurier's quality as a right-back, Mills didn't rate him compared to those at top clubs.
“Internationally he’s very, very good, but I look at it and he’s not quite there, he’s not up to it," Mills told Football Insider247.
“You’ve got Kyle Walker or Cancelo, you’ve got Trent Alexander-Arnold, Joe Gomez could play there if necessary, Azpilicueta at Chelsea, you’ve got Bellerin at Arsenal. I think they’re all better than him.
“That’s a weakness since Trippier left.”
Following Kieran Trippier's switch to Atletico Madrid this summer, Aurier and Kyle Walker-Peters are the available right-backs in Mauricio Pochettino's squad.
Bent lamented the errors made by the former PSG defender that placed the team in danger, when asked if the 26-year-old is top-four quality, the former England international answered; "No, personally, no. Defensively, he’s all over the place, positionally, he’s all over the place.
“People get in behind him, I don’t think he’s particularly great on the ball – yeah, he scored a great goal the other day which was chalked off but when you look at the right-backs that they’ve had.
“People aimed a lot of Trippier but you knew what you were getting from Trippier. Technically on the ball, he was very good, positionally he got himself into the right areas.
“Aurier, he’s powerful, but he’s often left wanting. He’ll break forward and leave that right side exposed, a lot of the time the right centre-half is one-v-one with the wide man. That’s something they definitely need to work on.”