The elder Kennedy, who served as a U.S. ambassador to Britain before World War II, resigned that post because he opposed British and U.S. war preparations.
"Secretary Rumsfeld is the last person who should preach the lessons of history after ignoring them for the last six years," Kennedy said in a statement. "As a result of his failures, Americans are less safe."
Both Kennedy and Senate Minority Leader Harry Reid (D-Nev.) renewed their call for Rumsfeld to be replaced.
"Secretary Rumsfeld's reckless comments show why America is not as safe as it can or should be five years after 9/11," Reid said. "If there's one person who has failed to learn the lessons of history, it's Donald Rumsfeld."
Criticizing news coverage of U.S. policies abroad, Rumsfeld pointed to "a focus on dividing our country."
For instance, he said, news outlets have carried more reports about U.S. military abuses than about Army Sgt. First Class Paul Smith, who posthumously won the Medal of Honor for heroism during the invasion of Iraq.
Rumsfeld was applauded by the American Legion convention for calling on the group's members to "set the record straight."
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Times staff writer Peter Spiegel in Washington contributed to this report.
