The World Cup winner outlined his opinions on the four times Champions League winner's current situation.
Casemiro has struggled at United this season after an impressive first campaign last term.
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Rivaldo told the Betting.Betfair website: "Casimiro is a great person, a friend of mine and someone I played with when I was at Sao Paulo.
He had an amazing career at Real Madrid. In my opinion, it was the wrong decision for him to leave Real Madrid for United.
I think he was living a beautiful story at Real Madrid, but of course, the financial side of things helped his decision.
United are in a terrible moment, with so many injuries. and Casemiro is a midfield player, not a striker or defender, so people criticize him playing out of position, but in my opinion, he is not to blame at all, because United are struggling massively on their own."