Spurs were incensed after referee Martin Atkinson wrongly decided Juan Mata's shot had crossed the line shortly after half-time, which handed the Blues a 2-0 lead.
Tottenham did pull a goal back but were ultimately thrashed 5-1. Spurs players gave strong statements of dissent with Atkinson's decision after the game as well.
And Lampard, who was famously denied a goal in England's 2010 World Cup defeat against Germany, watched the highlights afterwards and sympathised with them as he said: "It wasn't a goal, simple as that, and for that you feel sorry for Tottenham.
"Goal-line technology needs to be brought in, in my opinion. It's too important. I've seen it before a few times.
"I think we still won the game convincingly today but for me, goal-line technology, I think it's a no-brainer."
He added: "It's very simple. It's in a lot of other sports.
"I know we're all traditionalists and we want to keep our game as quick-moving and as simple as we want. But I think cricket was like that and cricket definitely benefited from it and was more exciting to watch.
"With football, it's too big a business and too important. People come to watch games and support clubs throughout the season and it should be dealt with."
Striker Emmanuel Adebayor, who also claimed Atkinson should have sent off Chelsea goalkeeper Petr Cech and awarded Spurs a penalty instead of allowing Gareth Bale's goal to stand, said: "To be honest, we have to blame the referee for tonight [Sunday].
"I think we have done well and he has made a lot of mistakes and made a lot of wrong decisions."
He added: "We are all disappointed.
"But what do you want me to tell you? How many goals scored this season were disallowed that were onside?
"To be honest, I'm just tired of it and everyone is talking about goal-line technology. They have to make something happen because it's killing the league, it's killing the FA Cup, it's killing the game, it's killing everything."
Midfielder Scott Parker claimed no-one in the ground but Atkinson - who did not consult his assistant - thought the ball had crossed the line.
He added: "It's not even a debate, is it, really? I think it's clearly obvious. It's not even one we can sit here and say, 'Did it or didn't it?' It was nowhere near the line.
"I had a perfect view. Four players were covering the line, so how the ball could've got over the line, I don't know.
"The linesman said he didn't make the decision. The ref took it upon himself."
Goalkeeper Carlo Cudicini said: "You expect the referee to be 110% sure before giving a goal.
"The ball was not even near to the line, so it was really a difficult decision to accept."
Asked if he was in favour of goal-line technology, he added: "Of course I am because, nowadays, the game is very fast and, for the referee, it's difficult to see certain things.
"But when you do see and you do make a decision like that to give a goal then you do have to be 110%, which apparently he wasn't considering it wasn't a goal."
Defender William Gallas said: "I don't know how he accepted that goal.
"I think there is always some problem. UEFA has to do something because now it's a bit too much for us.
"Everybody else is talking about the technology, the video.
"I feel now UEFA has to change."