Scolari was dismissed on Monday following a poor run of results which left the Blues with only a slim chance of claiming the Premier League title.
One of Scolari's first acts as Chelsea manager last summer was to try to sign Brazilian compatriot Robinho, although Manchester City swooped in to capture the forward in a last-minute deal.
Robinho does not think Scolari was given enough time in the role, while he has been surprised by stories that a number of Chelsea players found it difficult to work under him.
"I know Scolari very well and he talks a lot with the players. I don't understand why some Chelsea players have not accepted him and that has been the key to irregular results of recent weeks," Robinho told The People.
"I did not expect the sacking of Scolari but so many unexpected things happen in English football.
"Felipe is a great coach and he showed that with Brazil and Portugal. They have not given him the necessary time at Chelsea.
"It is another club and I should not get too involved, but I think they have got it wrong."