Villas-Boas was fired on Monday following Spurs' 5-0 demolition at home by Liverpool, with some reports claiming he had lost the support of his players.
But speaking on American TV show FOX Soccer Daily, Friedel insisted the entire squad was behind the Portuguese coach.
"I think all the players in the changing room really wanted things to work out for Andre," the veteran goalkeeper said.
"From day one that he came to the club, (he had an) open door policy, very good communication with the players. None of us were happy to see him go.
"We still have to continue to have a very good team spirit, which I know we will.
"We have a lot of quality in the changing room.
"I'm sure the board are going to be hiring a very good manager to take us forward, who the players will all be behind again, because, at the end of the day, we are employed by Tottenham Hotspur Football Club, not by the manager they're bringing in.
"We just have to try to adhere to all of his ideas and try to get results for the football club."