Benteke has missed two penalties for Villa in the Premier League so far, one against Arsenal on the opening day of the season and another more recently against Everton.
"If you missed two penalties and it has cost your team - at Villa in particular because their results have not been great of late - if you're a manager I would try to get somebody else on it," said Yorke, according to The Express.
"As much as he is fantastic and the talisman in that team at the moment, if he is missing the opportunity you need to reassess.
"He should keep practising but as a manager you always need to have (a second penalty taker). Where there's a plan A there should be a plan B - Paul Lambert doesn't need me to tell him that.
"It's easy for me to sit here and say this person or that person should take penalties. But only the manager can stare their players in the eyes and see if they are ready to take penalties."
Villa currently find themselves in 14th position in the Premier League.