Cavendish has said that he felt like a "back-up rider" during this year's Tour de France as the British team focused solely on gaining the yellow jersey for Bradley Wiggins.
Froome told Cycling News: "I think his comments are just.
"Certain promises were made to him that weren't fulfilled. I can empathise with that.
"He's a great stage winner and contender for the green jersey, and this year he had to put those ambitions aside for the team to focus on the yellow jersey.
Cavendish has since left the team to join Omega-Pharma-Quickstep.