If you're willing to use Microsoft's methods/tools to migrate to Azure, then you'll require at least the vCenter to be at least version 5.5, unless you protect the virtual machine as physical as mentioned in the following thread:
Migration to Azure from vSphere 5.0
migration path for vCenter 5.0 or earlier
If this isn't an option, then I suggest you use your favorite search engine to check if there are any third party solutions that supports migration from older vCenter to Azure.
You may also try asking in the VMware forums for any help:
(Please don't forget to mark helpful replies as answer)