The Iran coach was Sir Alex Ferguson’s assistant manager and trained Keane at Old Trafford before the Irishman's explosive departure from the club in 2005.
And Keane, 46, admits they almost traded blows after the Portuguese doubted his commitment in his second spell as No2.
He said: “In his second spell when he came back, for some reason towards the end of my time I found him to be really disrespectful towards me so we had a bit of fallout.
“He questioned my loyalty and I told him where to go.
“And one of my big regrets is that I probably should have ripped his head off – but he’s an excellent coach and he’s doing an excellent job, it has to be said.
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Queiroz, centre, and Keane, right, worked at United together in the mid-2000s
“He was probably a bit defence-minded but I had a good relationship with him, particularly in his first spell at the club.”
Queiroz had two spells at United, the first one lasting from 2002 to the summer of 2003, but after a season at Real Madrid he was invited back under Ferguson's coaching staff in 2004, where he stayed for another four years.
Keane was involved in a hilarious gag during analysis of Spain’s win over Iran when Ian Wright made a joke about Gareth Southgate’s dislocated shoulder.
Patrice Evra, who was on the ITV punditry team alongside Keane, sang the praises of the former Real Madrid and Manchester United coach.
The Frenchman, 37, said: “Carlos is someone who you feel like never smiles.
“His training sessions are perfect but when he left United, tactically it was not the same. As a person, he’s really difficult, I would say [that].”
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