Biden, vice-president during the management of Barack Obama (2009-2017), said that he is now focused on the book and winning the midterm elections.
"To not have an outright, flat condemnation of that... I thought the silence was deafening", Biden added.
"And then when the comparison was made to those who were protesting, I found it reprehensible", he said, referring to Mr. Trump blaming both sides for the violence in Charlottesville.
Clinton lost to Donald Trump, ushering in a Republican president who has promised to dismantle key parts of Obama's legacy.
When asked by Colbert how Trump's time in the Oval Office might influence the "future of presidencies" and what behavior is normalized, Biden didn't mince his words.
Biden writes: "In January 2015 the president was convinced I could not beat Hillary, and he anxious that a long primary fight would split the party and leave the Democratic nominee vulnerable in the general election".
He added, "There's an attack on our system. I think people are anxious".
"And, by the way, it goes beyond President Trump, in my view". Biden had sought the Democratic presidential nomination for the 1988 and 2008 elections. We'd have a president who understands the role of the presidency. "She would've been somebody who would in fact weave that fabric".
Elsewhere he interprets Obama's remarks when Clinton declared as a "coordinated, non-endorsement endorsement", and says the president's team was implying, "If she nearly beat us... she will definitely beat you". Biden returned to The Late Show on Monday night and Colbert was ready for him. "Right now I want to focus on the book and I want to focus on winning the off-year elections".
"We (want to) set up trauma centers where women can go to get the long-term help they need to deal with these crises".