Krul went on to make two saves in the shootout to earn his country a place in the last four of the tournament.
Despite many praising Van Gaal for his substitution, Cannavaro has claimed that it could have a detrimental effect on Cillessen for the rest of the World Cup.
"I know everyone is now treating Van Gaal like a legend or a magician for that change, but to be honest, it's not something I like very much," Cannavaro told Globo Esporte.
"It's disrespectful to the goalkeeper. Who will be the keeper in the next game? Imagine going in goal for the next match and realising you do not have the 100% faith of the coach."
The Netherlands will face Argentina in the World Cup semi-final on Wednesday.