His comments come as South Africa celebrates Freedom Day - a commemoration of the country's first post-apartheid elections which happened 20 years ago today.
Tutu, a close friend of Mandela and the de facto leader of the liberation movement in South Africa while he was in prison, was left out of Mandela's funeral programme by the ANC, and almost not invited at all.
Tutu has already made it clear he will not be voting for the ANC in South Africa's elections next month - the first since Mandela's death.
"I have already said that I will not vote for them; that is something that I have said," he explained during a recent press conference. "And I say it with a very sore, very heavy heart because on the whole they have tended to be close to the kind of things we dreamt about."
He added: "We have to admit that not too many of the successors of those leaders [from his and Mandela's generation] have been able to fill their shoes. But the shoes were enormous," The Guardian reports.
"We dreamt about a society that would be compassionate, a society that really made people feel they mattered. You can't do that in a society where you have people who go to bed hungry, where many of our children still attend classes under trees."
- UK Independent