Azpilicueta made history on Saturday when he led Thomas Tuchel’s side to FIFA Club World Cup triumph for the first time against Palmeiras, becoming the first Blues player to win every major club honour.
The 32-year-old joined Chelsea from Olympique Marseille in the summer of 2012 for £7m and has also won two Premier League titles, the Champions League, two Europa League trophies, one FA Cup, two League Cups and the UEFA Super Cup.
For all his successes at the club, Warnock says he does not rate Azpilicueta highly as his achievements have been down to luck.
“It goes two ways. I think he’s been very fortunate lad to be at a club like Chelsea,” Warnock told the talkSPORT Breakfast.
“I don’t think he’s a great defender. Sometimes in football, you need a bit of luck and I think he’s had a bit of luck that he’s been there at the right time and at the right place.
“That’s what you need in football. You need a bit of luck to be successful.”
Azpilicueta’s Chelsea contract expires this summer but he remains a reliable option at the back for Tuchel, racking up 30 appearances across all competitions this season.