The musician said it was the 'stupidest thing' Tyler had done.
'I think it's the stupidest thing he's ever done in his life,' Kid Rock said.
'He's a sacred American institution of rock 'n' roll, and he just threw it all out the window. Just stomped on it, and set it on fire.'
He told a US magazine: 'I think whoever's advising [Tyler], we should bring back the guillotine, or whatever they call that thing.
'And if it was himself, he needs some serious counselling. I love him to death, but I have to speak the truth.'
Love In An Elevator rocker Tyler, 62, signed on to appear on Season 10 of the hit TV talent show after Simon Cowell quit.
He will appear alongside fellow newbie Jennifer Lopez, and long-time judge Randy Jackson when the new series hits screens in January.
Thirty-nine-year-old Kid Rock, real name Robert Ritchie, has supported Aerosmith in the past.
Tyler had no comment.