WASHINGTON—Kamala Harris’s defeat generated swift condemnation and soul-searching among Democrats, who are handing the White House back to a Republican they see as deeply flawed after their party failed to connect with voters preoccupied by inflation and illegal immigration.

For many Democratic voters, Vice President Kamala Harris' loss to Donald Trump was disappointing but not surprising, they said in interviews, agreeing that their party hadn't done enough to talk about the economy and lamenting lingering racism and sexism.