The 84-year-old actor - who played the agent from 1973 to 1985 - praised Craig for his portrayal in Casino Royale and Quantum of Solace.
"I loved Casino Royale and Daniel Craig. He is a wonderful actor, certainly the best actor to play Bond," Moore wrote in the latest edition of his book Bond on Bond.
"I have never been guilty of method acting, or even acting if you want to argue a point."
He added that Craig has "the best build of any Bond".
Moore explained that he felt that Quantum of Solace lacked a certain amount of humour, which he himself was known for in his Bond films.
"I believe that Skyfall is going to have a lot more humour in it than Quantum of Solace did, something I'll be pleased to see.
"Of course, we had executives breathing down our necks when I was playing [Bond], but I never took them seriously. In fact, I don't think I took anything seriously. Except making sure I got paid on Friday."
Talking about his years as Bond, he added: "Back then I could leap out of a chair without fear of my knees cracking; could chew a toffee without fear of losing a tooth; could admire my flowing locks and my bronzed, slim torso.
"With a twitch of the old eyebrow I set pulses racing across the world, they say. These days it's my pacemaker that keeps my pulse racing."
Bérénice Marlohe, Javier Bardem, Naomi Harris, Judi Dench, Ralph Fiennes and Ben Whishaw are also among the cast for Skyfall, which opens in cinemas and IMAX screens on October 26 in the UK and November 9 in the US.
Watch the Skyfall trailer below: