Lazenby, who played Ian Fleming's MI6 agent in 1969's On Her Majesty's Secret Service, shared his thoughts about Daniel Craig's Bond in the latest issue of Entertainment Weekly.
"He's a fantastic actor, but [his movies] are more violent, aren't they? It's the way our society has gone," said the Australian actor.
"You can't have someone who's got feelings now. Bond has to be able to shoot someone now and kiss a girl three minutes later. When I did it, it had more heart. There's no heart to the new Bond."
Lazenby's sole outing as James Bond saw the spy marry Tracy di Vicenzo (Diana Rigg), only to see her gunned down by nemesis Ernst Blofeld (Telly Savalas) in the film's final scene.
"Especially when I had a baby and another one in the pouch, and I was broke," he said. "I was living with my mother in Australia."
Asked how he felt about replacing Sean Connery, Lazenby replied: "What did I have to lose? I did all my own stunts, and I kept asking the director, 'Did the other fellow have to do this?' That's why the line is in the film: 'This never happened to the other fellow'.
"It made me so famous that when I went back to Australia, well, let's just say I didn't have any trouble getting laid."
Skyfall, the latest Bond movie, opens in cinemas and IMAX screens on October 26 in the UK and November 9 in the US.
All previous 22 007 movies will be released in a Blu-ray boxset for the first time on September 24 to mark the 50th cinematic anniversary of Ian Fleming's character.
Photo gallery - 50 years of James Bond: