Lambert steered the Canaries to successive promotions before quitting in the summer to take over at Villa and both teams still face a tribunal to sort out compensation.
But Scotland defender Martin, who played under Lambert for three highly successful seasons at Norwich, said: "He was great for this football club and I hope he gets the reception that he deserves.
"I'm sure there will be a few fans who are still not happy that he left, so he might get a few boos.
"But I think the majority of the Norwich supporters know just what a great job he did here and will give him a very warm welcome." Martin, who was in the Wycombe side managed by Lambert that lost to Chelsea in the 2007 semi-final, is relishing a reunion.
The 26-year-old added: "As far as the players are concerned there is no bitterness or malice. He gave us the chance to play in the Premier League.
"It happens in football - players and managers move on, and knowing him, he will want to come here and win."