Lampard will make his debut on BT's coverage of the FA Community Shield on Sunday at Wembley.
He will appear across BT Sport's live Premier League, Champions League, FA Cup and Europa League games.
He said: "I'm delighted to be joining BT Sport.
"I'm looking forward to an exciting new season both here and in Europe and can't wait to begin working with the team."
Lampard joins a BT team which also includes Steven Gerrard, Rio Ferdinand, Paul Scholes, Michael Owen, Owen Hargreaves, Steve McManaman and Robbie Savage.
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