Keane signed his former Manchester United team-mate when he was in charge at Sunderland.
Yorke has hit out at Keane's style of management while he was manager of the Black Cats in his autobiography.
Keane told the East Anglian Daily Times: "I don't agree with his criticism of my style of management.
"I take on board those comments from people I respect, but I don't have any respect for him."
He added: "He was quick to sign a new deal at Sunderland. He should put that in his book!"