The former Blues keeper has been named technical adviser with the club.
Lampard said: "I'm delighted to have Petr here. It's fantastic for the club. He's an icon, a legend of the club. He's a very smart man. It was very obvious in my playing days in the dressing room that he had the intelligence, the languages, the desire to learn from people around him, and speak to people and people bring together.
"He's very smart - he will want to take the club forward in the right way and because of our relationship I hope it's something that can work very well together. I'm delighted to work with Petr.
"I know, we've had conversations, we have an idea, many ideas, on how to can keep the club moving forward."