The singing competition switched channels this year after more than five years on the BBC, where Sir Tom was a coach on four series.
And the Welsh legend reckons the move has done the show the world of good.
"Being on ITV feels far more authentic and much more real too. It feels more relaxed," he said this week.
Sir Tom claimed: "With the BBC they wanted friction with the judges, they wanted it to be competitive. They actually wanted and encouraged tension.
"I said a couple of things which they suggested I said, but when I watched it back afterwards, I thought, that isn't right."
Speaking ahead of this weekend's live knockout shows, Sir Tom went on to praise the chemistry between the new line up of coaches, with Sir Tom joined by Will.i.am, Gavin Rossdale and Jennifer Hudson in the famous red chairs.
"The dynamic is really great with the new judges. With Gavin, what you see is what you get, he's really down to earth and puts nothing on. He's a cool guy," Sir Tom explained (via Digitalspy). "Will and I are really in tune too and Jennifer is just tremendous, she's bought so much to the show. She's a young woman with an old soul.
"We work as a team and all really get on and support each other and our acts.
"We don't need that fake tension! It really wasn't real at all before. ITV actually want the coaches to bond, surely that's a much better idea?"
The Voice UK airs live this Saturday and Sunday night on ITV.