The veteran midfielder netted a sublime free-kick from distance in the 25th minute after seeing an earlier penalty saved by Tigers keeper Allan McGregor, adding to Oscar's 13th minute opener, as Jose Mourinho enjoyed winning return to English football.
Lampard was happy with the performance of the Blues side even though he admitted they slightly took the foot off the gas early in the second half.
"It was very sharp from the start. In the first half we moved the ball quickly," he told Sky Sports.
"If we play like that we'll give most teams a game."
He added: "Maybe a little bit (we eased up) but it is early season and we've done a lot of travelling. I'm not making excuses.
"We were so bright in that first half that there is bound to be a come down in the second. We'll take the positives of the first half."