The Premier League duo played out an uneventful goalless draw in the United States, but one moment of incident saw Adam bring down Bale after 18 minutes with a challenge that saw the Welshman withdrawn at half-time.
Bale suffered ruptured knee ligaments after a reckless tackle from Adam in 2010-11, and now Villas-Boas has voiced his anger at Scottish international's actions.
"I think it is a very nasty challenge from Charlie," he said after the game. "The player is gone and he comes in from behind on Gareth's ankle. I did not know the previous history between the two, but I do now.
"It is a difficult one to be fair. You do not want to end up in a game with Liverpool with ten men. Charlie came to me and said something about the challenge.
"I can accept that but I think he should go to the player to say sorry, because if the player escapes hospital it is because he is very lucky.
"The last time [Adam fouled Bale] he was out for three months, and in the end it's the Premier League that suffers without a player of Bale's talent.
"I can never doubt Charlie's integrity but it is a very, very nasty challenge. [Bale] is not okay. He is so-so. It is extremely painful and twisted, his ankle."