Scolari's position as Selecao boss has come under severe scrutiny following their humiliating 7-1 World Cup semi-final loss to Germany in Belo Horizonte on Tuesday.
Zico, who scored 52 goals in 71 international appearances between 1976 and 1986, is of the opinion that Scolari and his team were tactically one-dimensional at the tournament and should make way for a coach who will bring the traditional flamboyant playing style back to the Brazil side.
"We had no alternatives," he told reporters. "They stayed focused entirely on the success of the 2013 Confederations Cup. They kept the same formation and the same team. Everyone had a year to work out exactly how to play against Brazil."
"We should thank [Scolari] and thank [assistant coach Carlos Alberto] Parriera too. But we need to choose new people with new thoughts about how to play the Brazilian way."