Chelsea's current boss Rafael Benitez was appointed as interim manager in November only until the end of this season, while neither of his predecessors, Roberto Di Matteo and Andre Villas-Boas, managed a full campaign.
Lampard said it was important for whoever is in charge next season to be allowed to build some consistency.
He said: "Whatever the situation, it would be nice if a manager could come in and have a good crack at some consistency and stay in the job.
"We all understand we've had some interim managers and the fans and the club would probably be happier if we could get a manager who could stay for more than half a season, or for some period of time."
Lampard is out of contract at the end of the season but he said he had made no decision on his future - and that might depend on who is charge at Stamford Bridge next season.
The 34-year-old refused to be drawn however on a possible return for Jose Mourinho. Speaking at the handover of the Champions League trophy in London, Lampard added: "Jose's an absolutely fantastic manager, one of the legends of the Champions League. There's no doubt about his credentials, whether he comes to Chelsea or stays at Real Madrid or whatever club he goes to, I believe he will be successful.
"That's all he's ever done and from working with him I'm very, very sure of that.
"It's not for me to talk about the decisions. I wouldn't want to undermine the current manager for the last eight or nine games by giving you a headline like that.
"While there's a manager in place now, although we know what seems to be coming at the end of the season, I don't think it's right to speculate about who the manager will be next season.
"I'm not sure if it affects my decision. If a manager comes in who likes me.... I don't know."
Lampard is two goals short of equalling Chelsea's record goalscorer Bobby Tambling's tally of 202, and he admits his lack of recent appearances and playing in a deeper role makes beating the target more difficult.
The England midfielder, who last scored with a header against West Ham on March 17, said he was not concerned about his chances.
He said: "No, I'm very proud to be on 200. The manager has changed the team around, I've only played a few games since West Ham and the manager put me in a deeper role.
"Goals never come easy, no one gives you goals. The most important thing is to be part of a team performance like the other night when we won. If I get the chance to play in a few games like that I think the goals will come."
Lampard also believes Chelsea's tough run-in means they will have it all to do to finish third even if they beat Liverpool on Sunday.
He said: "We would be in a good position, to be sure, if we win it but it is a tough game this weekend. Then we have Manchester United away, Tottenham at home, Villa away and Everton at home.
"It is a hard run-in so I don't think we will say we have a stranglehold on it until we actually have it. It could go down to the last game of the season.
"It was almost a disaster last season and then we won the champions league and it became the best season in our history. That's football and you will be judged on your end results.
"We are in that critical time now, not just the manager but us as players to perform individually and as a team and try and make it successful.
"You have to give credit to Chelsea as a club because when people talk about crises and up and down seasons we still find ourselves in with the chance of a cup and Champions League qualification next season, that's quite something. There's a lot of clubs behind us who are not going to get that."