India suffered an innings and 76 runs defeat at Headingley and allowed England to level the series.
Vaughan’s comment came after India were hammered by an innings and 76 runs in the third Test at Headingley, where the visitors seemingly missed an extra batsman as they were bowled out for 78 and 278 while England piled up a massive 432 in their only innings.
"There were no positives (for India from Headingley Test). Pujara's runs will make him feel better going into the Oval. They have been very, very poor. They have got experience, they have got huge amount of talent in the dressing room," Vaughan told BBC's Test Match Special Podcast.
"Pujara will keep his place. Ashwin has to come in. They can't have 4 tail-enders. They got away with it at Lord's, you can't have four rabbits at 8, 9, 10 and 11. Ashwin has to play, he has got 5 Test match hundreds, he has got 400 Test wickets, he has to come into this Test team,” he added.
Widely regarded as one of the greatest spinners of the modern era, Ashwin has been warming the benches in the ongoing Test series against England so far. The tourists have preferred Ravindra Jadeja as their lone spinner in the playing XI apart from the four pacers.
"In the Indian dressing room, there is a lot of experience. The last two games two really good venues and two venues where you can say spin has played a part historically. I would be staggered if R Ashwin is not on the team sheet on Thursday morning," Vaughan remarked.
The series now stands at 1-1 and Vaughan believes India will bounce back strongly in the fourth Test at the Oval.
"I sometimes look at India, they play that much-pressurised cricket. They are under the spotlight with everything that they do. When they start a Test so badly, sometimes I alluded to a game of tennis. They conceded the first set on the opening day. England needed to win the first session at Headingley after Lord's," he said.
"India will need to win that first session at Oval to be able to get those positive juices flowing. I am sure it will happen, India will come fighting. This has been really poor cricket, it was useless cricket for most part of the Test except Day 3 when they were batting," Vaughan added.