He finally hit the milestone after 11 weeks since his 499th start.
Speaking after the game, Lampard joked: "It means I'm old. No, it means a lot. I've been fortunate to play for a great club and the managers had team-mates around me.
"I'm very proud of that goals record, to beat a great man such as Bobby who is an absolute legend and a lovely bloke, it means everything.
"Coming across London is not always easy but they (the fans) have supported me from the first minute. I appreciate it. I try to play well for them."