Warnock went against popular opinion when he featured on talkSPORT Breakfast calling Azpilicueta 'fortunate' that he's been able to play for Chelsea for so long.
The Blues captain had come in for praise after his performance in the Club World Cup final, with a clever penalty bluff allowing Kai Havertz to score and win Chelsea the trophy for the first time.
Azpilicueta has been at Stamford Bridge for just shy of a decade, and has uniquely won everything on offer.
His performances in a Chelsea shirt saw the 32-year-old named club captain in 2019, taking over from Gary Cahill who had replaced club legend John Terry two years earlier.
Azpilicueta has now lifted three trophies with the armband, and was singled out for individual praise for his leadership during the 2-1 final victory over Palmeiras in Abu Dhabi.
One man wasn't too impressed, though, and that was vastly experienced promotion expert Warnock.
The 73-year-old has faced the Spaniard on four occasions as a manager, losing all four matches against Chelsea whilst managing Cardiff, Crystal Palace and Leeds.
Azpilicueta even scored against Warnock's Cardiff during a dramatic late comeback in 2019, which as good as relegated the Welsh side, leaving Warnock fuming on the pitch.
"It goes two ways," Warnock told talkSPORT Breakfast. "I think he's been a very fortunate lad to be at a club like Chelsea.
"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."
Two of Azpilicueta's former teammates have since jumped to his defence, with Terry replying to talkSPORT's clip of Warnock asking, 'Is this a wind up?'
Terry also posted nine trophy emojis to symbolise Azpilicueta's haul at the Bridge, while Fabregas replied with some similarly unimpressed emojis.
Azpilicueta has also been in touch with talkSPORT Tweeting, 'I was lucky to get Dave as my nick name', after a chat between Laura Woods and Darren Bent about the name given to him by Chelsea fans.