The former Top Gear and Grand Tour presenter made the comments in his latest Sunday Times column, while arguing that Britain needs people willing to take risks and address major challenges.
Mr Clarkson, 66, reflected on explorers and adventurers who have pushed themselves to extremes. He referred to Neil Armstrong, Chuck Yeager and the Wright brothers as examples of people whose courage helped humanity progress.
However, he said modern adventurers were running out of new challenges with the world’s highest mountains already climbed and exploration records broken.
Turning his attention to the Prime Minister, he criticised what he described as a lack of ambition from Mr Burnham.
Mr Clarkson said: “Ordinarily, when we get a new Prime Minister, he is full of gusto and drive and ambition.”
Incoming leaders often seek to make their mark by taking on major global challenges, but Mr Burnham has chosen a far more modest agenda, according to the presenter turned farmer.
Drawing a contrast with explorers, he suggested previous generations had been driven by bold ambitions.
Referring to a recent pledge from the Prime Minister on technical education, Mr Clarkson claimed Mr Burnham’s vision amounted to little more than ensuring “every young person” was equipped with a hard hat.
He added: “He’s the most small-minded and timid leader we’ve ever had.”
In July, the Government unveiled plans to introduce new technical education pathways for 14-year-olds, to combine core academic subjects with skills training, work experience and employer links.
Mr Burnham said Britain had placed too much emphasis on the traditional academic route and pledged that the country would “value the hard hat every bit as much as the graduation cap”.
The Prime Minister said the reforms were intended to tackle youth unemployment and give young people clearer routes into skilled, well-paid jobs.
Mr Clarkson’s comments come as Mr Burnham insists his Government can deliver substantial change despite a difficult economic backdrop.
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