The former ballerina, 49, thinks Craig, 53, is often too harsh with his comments and put-downs and believes he should be kinder with his words.
Craig has gained a reputation for not being afraid to hold back with his remarks when giving feedback on the panel of the BBC ballroom dance contest but sometimes twinkle-toed Darcey gets angry at what he says.
She told the Daily Star Sunday: “I am always cross with Craig for being mean. I am always shocked. I think, 'How could you say it like that?'
"It is heartbreaking. The celebrities are fortunately all prepared for it. And it is always a lovely surprise when he is nice."
Darcey initially joined the Strictly Come Dancing judging panel in 2009 for the latter stages of the show and later returned in 2012.
And the star says she has be working on softening Craig and his approach to how he voices his opinion ever since.
She said: “I think Craig has softened. I have done some work on him. I think I really have softened him and I am very proud of that.
"The weird thing is that he is a big softie. He can be quite straight to the point but he is a sweetheart.
"He is a big teddy bear, actually."
However, as Darcey said, Craig is not nasty with his comments 100 per cent of the time and earlier this month he predicted Stacey Dooley would make it to the final and win this series of Strictly.
The choreographer believes Stacey, who is dancing with Kevin Clifton, will be taking home the Glitter Ball Trophy because of her popularity with viewers.
Craig said she had proven herself to be the dancer with the potential to go all the way on the BBC One contest.
He told RadioTimes magazine: "I can see her winning. She has a lot of the audience on her side, she's very popular and so far she's getting through this with flying colours."
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