Chelsea beat Atletico 2-1 because of targets from Alvaro Morata and a stoppage time winner from Michy Batshuayi.
The hosts first of all went forward from the penalty spot within the first part, with Antoine Griezmann sending Blues goalkeeper Thibaut Courtois the unsuitable manner.
But on 85 mins, with the rating at 1-1, Atletico claimed the referee should have pointed to the spot once more, when Tiemoue Bakayoko collided with Fernando Torres within the field.
Appeals have been waved away and Chelsea went on to assert a memorable win, however Lampard says the officers were given the verdict unsuitable.
“It’s a foul. It’s a foul without a doubt,” he stated on BT Sport.
“Chelsea didn’t deserve it but it surely doesn’t remove from the truth that this is a foul within the field.
“It’s the highest degree and that may alternate the sport.
“An excellent efficiency may have been a loss.”
Lampard’s colleague and previous Manchester United defender Rio Ferdinand additionally idea Atletico Madrid should have had a penalty.
“I thought it was a penalty straight away,” Ferdinand stated.
“It’s clumsy, it’s careless, he’s no longer considering.
“When you’re at the pitch every now and then and you spot incidents like that you just in an instant assume ‘what are you thinking?’.”