O'Brien, who compiled a 121-169 record in 3 1/2 years in the job, was sacked after leading the Pacers to an anemic 17-27 record this season.
The final straw came after Indiana's 110-89 loss to Chicago Saturday, the Pacers' sixth in seven games.
Bird told reporters he wants to see improvement with Vogel at the helm and indicated he would meet with team owner Herb Simon at the end of the year to review the contracts of all staff members, The Indianapolis Star reported.
Vogel has been on O'Brien's staff for four years but has no NBA head coaching experience. He has worked as a scout for the Los Angeles Lakers and Washington Wizards and as an assistant coach for O'Brien in Philadelphia and Boston, the Star said.