Palmer, who played for 11 sides during his 21 year career, admitted Walcott needs to sort his game because the Arsenal winger doesn’t use his pace to full effect.
Palmer also believes the 23-year-old needs to concentrate on more on developing his game on the wing rather than worrying about a long-term future as a striker.
Walcott has been plying his trade on the right wing since moving to Arsenal back in 2006 from Southampton, but has been placed up-front on a number of occasions up-front by Arsene Wenger this season.
Walcott was deployed in the wide position on Wednesday night for England against Brazil and played a part in both goals the Three Lions scored. However, Palmer insists the wannabe striker should focus and learn how to play the wing position properly.
He was quoted on talkSPORT.com saying:
‘I’m a little bit frustrated with Theo Walcott. I know the first goal [against Brazil] came from his run inside but it took him 58 minutes to go outside the full-back. He still runs inside all the time.
‘I’d like him to stay outside, on that touchline, then he can receive the ball and use the grass in behind [the defender]. Speed, that’s his asset. Then, when they shut him off, he can come inside.
‘He’s got so much ability but he’s so frustrating. It looks like he doesn’t understand where he should be running to utilise his pace.
‘If Theo Walcott gets the ball and knocks it past you, I don’t care who you are in the world, you don’t live with him. He just needs to sort his game plan out.’
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