Tillerson was "exhausting" and imperious, and Kelly was suspicious of her access to the president, Haley, a former SC governor who quit the Trump administration past year, wrote in "With All Due Respect", due to be published Tuesday.
"Kelly and Tillerson confided in me that when they resisted the president, they weren't being insubordinate, they were trying to save the country", she wrote.
"It was their decisions, not the president's, that were in the best interests of America, they said".
"It should have been, go tell the President what your differences are and quit if you don't like what he's doing", she said.
Haley, a former SC governor of Indian descent, left the United Nations job at the end of 2018 on good terms with Trump.
But Ms Haley also said she supported a number of Mr Trump's policies that others within the administration opposed - such as his decisions to pull the U.S. out of a nuclear deal with Iran, and to withdraw from the Paris climate agreement.
Nikki Haley told CBS on Sunday that she was offended when two top Trump aides attempted to recruit her to undermine the president in order to "save the country".
The former SC governor said the meeting lasted more than an hour and that they never raised the issue to her again.
"Instead of saying that to me they should have been saying that to the president, not asking me to join them on their sidebar plan", she told CBS. And it goes against the Constitution, and it goes against what the American people want.
The Post said Tillerson did not respond to a request for comment.
He served as secretary of state until his resignation in March 2018.
In an interview with the Post in her publisher's NY office, Haley dismissed House Democrats' moves to impeach Trump over his pressure on the Ukrainian government to obtain political dirt on an opponent. It was apparent that Tillerson had disagreements with President Trump during his time as secretary of state. "And the president's words had been hurtful and risky", Haley wrote.
The daughter of Indian immigrants also didn't agree with Trump's tweets against members of the liberal freshmen "squad" to "go back and help fix the totally broken and crime infested places from which they came". "So it's hard for me to understand where the whole impeachment situation is coming from because what everybody's up in arms about didn't happen", Haley told the Post in an interview.
Haley's memoir will be released a week before another, more critical, book by a White House insider - "A Warning", written by an anonymous author described only as "a senior official in the Trump administration".
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