Hart was upset with Tudor for hooking goalkeeper Antonin Kinsky on 17 minutes after two clangers. Tudor had initially dropped No1 Guglielmo Vicario for Kinsky before eventually sending on the Italian.
Spurs would eventually lose the round 16 first-leg clash 5-2 on the night and Hart said: "To get to this level, signed by Spurs, one mistake does not alter you. That is a technical error, but what precedes that... was it the right decision? Maybe it was. But what I saw after...
"I hate being reactive because I like to know all the facts. But the fact he has taken him off in that situation having played him... he is young, 22, he is not a man, he has done nothing to try and hurt Spurs.
"(He had) a couple of bad moments, but to rip him off in this situation and not even acknowledge the guy? Every single one of Tottenham's players who are feeling the pain don't know what to do. How is that good for him?"
He added: "It is a thing with 'keepers, you have got to accept you will have nights like that. Everyone has them. Buffon, Neuer, Schmeichel. They have had moments, but everything that has gone on on top of it, he will feel so unwelcomed as far as the management is involved.
"You have to be treated like a human, just a little bit. I understand the situation. This needs getting a serious grip of. Madness happens all the time in football. That was mad, maybe he didn't handle it how he should have.
"I saw the whole bench's hearts drop. They are saying, 'don't worry we are here for you'. It's the human side of things. If you aren't willing to show it, that's when it starts to divide."