Lampard believes Tottenham's Villas-Boas may have learned from adversity and may now be a better boss for it.
He told The Sun: "AVB didn't do well at Chelsea but it was not for the want of anyone trying.
"He wanted to succeed, he wanted to do it his way. But it just didn't work. Not because of any battle between me and him, there was a lot more to it than that.
"He had his plans for the team and that meant me not playing as much as before. That was just one part of it, the problems were far bigger and broader than that.
"But as a player you learn off every manager whether they are good, bad or indifferent. I definitely learned in different ways from Andre. It was an interesting time.
"I was always used to having a great relationship with my managers. Everyone I had worked previously with. Not having that suddenly made it pretty tough for me at the time.
"It makes you stop and think, it makes you re-evaluate everything you are doing. That's not necessarily a bad thing.
"Now maybe he will be a better manager, a better person for his experience at Chelsea."