Eriksson caused a stir with his controversial selection of 17-year-old Walcott, who has yet to play in the Premier League, instead of strikers such as Jermain Defoe, Andy Johnson or Darren Bent.

Robson and Venables, who both took England to the semi-finals of major tournaments, said the country needed a proven goalscorer to support striker Michael Owen if Wayne Rooney was unable to play any part because of injury.

"I wouldn't have picked him," said Robson of Walcott.

"He's totally inexperienced and very young, and I would have rather taken a proven striker who has scored goals in the Premiership, such as Defoe or Bent.

"They have both had decent seasons and I would have trusted them rather than Walcott. It's a risk and brave decision but I hope it's not a foolhardy one."

Venables agreed: "With the chance of injured strikers, other players should have gone instead. It's a long shot."

Both men considered Brazil the clear favourites, but Venables believed England could avenge their quarter-final defeat from 2002.

"Brazil should win the World Cup, but I think we (England) can beat them," he said.

"If we were to meet them in the semi-finals, it would be a close call, but we have a better defence and could beat them if we really went for it."

Robson believed it would take a miracle for Manchester United striker Rooney to recover from his fractured metatarsal in time.

"For him to recover in six weeks is asking a lot. I hope that I am completely wrong, because he is a genius and a great player who makes a difference But I just cannot see it," he said.