Following a meeting with Zimbabwe opposition leader Morgan Tsvangirai, Odinga alleged Mugabe isn't willing to share power with opposition officials and therefore should be ousted from his position, the BBC said Thursday.
"It's time for African governments to take decisive action to push him out of power," Odinga said after the Nairobi meeting.
"Power-sharing is dead in Zimbabwe and will not work with a dictator who does not really believe in power-sharing," he added.
Political forces in Zimbabwe have long been locked in a dispute over the organization of a proposed unity government.
The BBC said Odinga's comments come as Zimbabwe is facing new problems. A total of 17 soldiers have been arrested in the country on suspicion of looting, while hundreds have died in a cholera outbreak.