Atletico won 2-0 in the first-leg of their Champions League round 16 tie.
"I saw a team without personality or the will to play," Pirlo told Sky Italia.
"You have to deal with the pressure and give everything you have if you want to win [the Champions League].
"Juventus lacked character or the desire to do much. They were happy to sit back, wait and think eventually they might score a goal."