The Manchester United striker scored his team's second goal of the night which gave England a 2-1 lead they held until six minutes from time when Paulinho equalised for Brazil.
Lampard said: "He [Rooney] is up there with Barnes now because of the quality of the goal and Ox deserves credit as well for his goal.
"The shine has been taken off that it wasn't a winning goal but it doesn't matter too much. We wanted to win but there is a lot of credit to be taken from the performance. The big games [World Cup qualifiers] are the ones that are coming up that we need points from."