Vaughan, in his article for the 'Daily Telegraph', said "We have reached the stage with Cook when he cannot be enjoying cricket. You don't when you are not playing well and the team is struggling."
The former skipper said England should have been strolling in the second Test against India but because of "poor tactics" they are left chasing the game.
Cook's role has come under increasing scrutiny after nine winless Tests and 26 innings without a century, his most recent failure coming in this week's second Test against India at Lord's.
"It is easy for the England and Wales Cricket Board (ECB) to say it is going to stick by him but it has to ask what is best for the team and for Cook. The ECB has a responsibility to Cook the person to do the right thing and if that means taking the captaincy away then so be it," Vaughan wrote, giving his candid opinion.
In the column, to drive home his point, Vaughan narrates his own struggles with captaincy and how he came out of it.
"I reached a stage in 2004 when it took a very honest conversation with the coach at the time, Duncan Fletcher, to sort it out," he said.
"I am now waiting for that Duncan moment to happen to Alastair. I do not see him as anything other than an opening batsman so moving down the order is not an option. The question should be do you think you can get back to the form you showed on that tour to India and captain the side? Would England miss his tactical captaincy at Southampton if he stood down? The honest truth is I do not think they would," Vaughan wrote.
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