Kubica, running much faster than his Red Bull rival, tried to pass the German on the outside of the third corner with three laps left.
The duo made contact, however, and Vettel was found guilty by the race stewards, who imposed a grid penalty on the Red Bull driver.
Kubica admitted he was not sure whose fault the accident was, but believes Vettel was too optimistic.
"It's difficult to say who is at fault," the BMW Sauber driver said. "I think he was a bit optimistic. If that was the last corner of the last lap it's OK, but in the first race it's important to score the points. It's important you understand what position you are in.
"If I didn't overtake him there I would do it in three corners because I was lapping three seconds quicker. It's a shame because we we have both had a great weekend but didn't score any points."
BMW boss Mario Theissen said that Kubica was set to win the race, his pace being much better than Vettel's and leader Jenson Buttton's.
"I was lapping very well, I was much quicker than him (Button) and Vettel, catching up, and especially in the last lap they were for sure getting troubles with their tyres," Kubica said.
"In fact, he went wide in corner one, closed the line, I was on the clean line into the braking for corner three already in front, but I think then he tried to defend too much his position and picked up a lot of understeer as he was graining the front tyres and he hit me.
"I tried to restart, but my front wing was under the car and unfortunately in Turn 5 it went under the wheel and crashed."
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