Pietersen claimed in his autobiography, which was released this week, that there was a bullying culture within the England dressing room and pinpointed several offenders specifically.
The 34-year-old has also condemned the ECB in the book, which is perhaps unsurprising given they have made it clear he will not be considered again for selection.
The fallout continues to cast a dark shadow over English cricket, with claims and counter-claims dominating headlines.
Collier added his input, suggesting England could not have enjoyed such success under former team director Andy Flower - who Pietersen also heavily criticised - if the claims were true.
He told BBC Radio 5 Live Sportsweek: "No accusation of bullying was ever made to me.
"In any professional sport certain managers and leaders do have intensity from time to time.
"People that we respect as some of the greatest football managers have been known to be fairly robust in dressing rooms.
"Andy [Flower] is an intensely passionate man, he has the most superb integrity. There is no way we could have had the success over this long and successful period if there hadn't been huge respect within that dressing room.
"In any professional sport players will get frustrated with each other - that's a fact of life. I didn't see that as in any way affecting the team atmosphere.
"That team were very, very close as a team and one of the frustrations at the moment for some of the senior players is they have created so much for English cricket over the past decade that they want that to be remembered.
"One of the reasons why is that they were all perfectionists, and if you want perfection you have to be hard on yourself."