Shaw has been a key player in England's run to the semifinals.
Roberto Carlos told the PA news agency: "You can see he's very motivated. He's really improving, his performance against Ukraine was very good.
"He's been an important part of this English team, along with all the others.
"He's been improving each game and I think he's got everything to get to the top. He's the left-back for England, that in itself says a lot."
Asked if he sees similarities between his game and the England left-back, Roberto Carlos said ahead of the semifinal against Denmark: "I don't like comparing.
"It's two completely different periods in football. I had my time and now he's having his. Similarities I think could be that he has strength and the desire to win, just like I did."
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