"That is as arrogant and offensive and demeaning as I can imagine in this time we are living", the SC senator told reporters Friday.
Biden's remarks also drew swift condemnation from conservatives shaming the comments as offensive.
"Race-baiting in the 21st century is an ineffective tool to attract one of the most intelligent voting blocks in the nation", he said.
Gaffe-prone Mr Biden made the remark in an interview on Friday with a prominent black radio host, Charlamagne Tha God, about his outreach to black voters.
"White liberal elitists have continuously dictated which black Americans are allowed to come to the table and have a voice", said Katrina Pierson, a senior adviser to the Trump campaign.
He's saying to 1.3 million African-Americans that you are not black?
Keith Boykin, a professor at Columbia and former aide to Democratic President Bill Clinton, called Mr Biden's comments "a mistake".
"I won every single county", Biden said.
The backdrop: Biden said during an interview Friday that "you ain't black" if "you have a problem figuring out whether you're for me or Trump".
The former vice-president says he"shouldn't have been so cavalier
The Massachusetts senator has reportedly agreed to host a private fundraiser for the presumptive Democratic nominee Joe Biden after shunning such events as a candidate herself.
"I was struck by the condescension and the arrogance in his comments", Scott said in a conference call arranged by the Trump campaign.
Tim Scott, a Trump supporter and the Senate's sole black Republican, said he was "shocked and surprised" by Biden's remarks. "We've never had so many African American jobs ever in the history of our country, by far".
According to the media, Biden continued The breakfast club and above all he sidestepped important questions, including legalizing marijuana, as well as what kind of running mate he would have.
"Look, the vice president shouldn't have said it".
A senior Democrat familiar with the selection process said it will be hard for Biden to choose the head of a major financial institution for a senior role because it would mean provoking an unnecessary fight with progressives.
"Let's be clear about what the VP was saying: he was making the distinction that he would put his record with the African American community up against Trump's any day".
Former Vice President Joe Biden participates in a Democratic presidential primary debate at CNN Studios in Washington.
"He doesn't really have experience because I don't think he remembers what he did yesterday".