The mum-of-one was interviewing Tamara, who now has her own reality show on ITVBe.
While discussing her separation anxiety, Tamara confessed she was 'heartbroken' when Sophia went to nursery but she's finding being away from her daughter a lot easier now.
Lorraine, who also has a daughter, decided to offer the mum advice and said: 'You have to let them go, you bring your daughters up to be strong and independent and then you've got to let them go, no matter how much it hurts'.
Despite saying 'Oh no' at first, Tamara conceded and told Lorraine she 'completely agrees'.
Tamara went on Lorraine to discuss her separation anxiety
However, viewers were not happy with the presenter's behaviour during the interview and took to social media to criticise for her comments.
One said: 'Lorraine Kelly was definitely jealous of your life and tried to have a lot of digs at you, but you held your head high and you showed your dignity.'
Another wrote: 'I thought Lorraine was incredibly condescending ! But you handled your self well. Good luck to you and your family 😘😘.'
A third commented: 'That was an uncomfortable interview. I loooooove Lorraine but her disapproval was obvious, which I totally get as the lifestyle Tamara leads is ridiculously indulgent , however maybe best not to have her on??...'
A fourth added: 'Has anyone else just watched Lorraine and felt really Uncomfortable how she was with Tamara so judgemental! I thought Lorraine was all about empowering women not judging them on being a parent and the things she enjoys...'
Tamara's parenting style, including her decision to continue to breastfeed her daughter, often attracts criticism from fans.
Earlier this week, the heiress sparked controversy on Instagram after posting a picture of her daughter Fifi getting a puppy from her extravagant advent calendar.