Lampard's shot clearly crossed the line but was not awarded as a goal in the final straw for FIFA president Sepp Blatter to proceed with the implementation of goal-line technology.
The strike was deemed irrelevant by a display of ruthless efficiency from Germany which resulted in navel gazing for England, who endured a dreadful tournament in South Africa.
With the next World Cup looming large on the horizon, Lampard believes England's collective state of mind is much improved more than three years on from the chastening loss.
"Coming home from then there was a very negative feel, not just press and public, but in the squad itself," said Lampard, speaking ahead of the first England-Germany showdown since the World Cup, Tuesday's Wembley friendly.
"We were disappointed with ourselves and I think we've got a bit more of a positive feel back again now.
"The result was bad. To lose 4-1, regardless of having a goal disallowed, is not a good performance and we got sent home.
"(But) if you look back at the details of the game it was a bit different to that."
Had Lampard's strike stood, England would have entered the interval level at 2-2 after Matthew Upson had pulled one back following goals from Lukas Podolski and Miroslav Klose.
Then boss Fabio Capello maintained that was the turning point in the 4-1 defeat, secured with two Thomas Muller goals in the second half, as his side exited the tournament, but critics insisted England would not have beaten a thrilling Germany team.
"It would've changed the game," Lampard added.
"They dominated the first half an hour, for sure, but going in at half-time it definitely would've been a different game.
"We came out second half, at 2-1, we hit the bar; I remember hitting the bar with a free-kick.
"We were creating chances, we opened up a little bit to try to get back in the game and, on opening up, they went 3-1 ahead and it's a hard game. And we were probably too open."
Lampard is reminded of the 'goal' when it is replayed time and again on television, as it is sure to be ahead of Tuesday's reunion.
Controversial goals versus Germany might have been a discussion point when Lampard was presented with his 100th cap prior to Friday night's 2-0 loss to Chile by his father, Frank Lampard Snr, and Sir Geoff Hurst, who scored a World Cup final hat-trick at Wembley, including one goal which was ruled legitimate by a Russian linesman.
The 35-year-old Chelsea midfielder did not allow the effects of his ghost goal to linger.
He added: "I wouldn't say it burns deep. I get asked about it quite a lot still to this day.
"It wasn't Germany's fault; it was a mistake by a referee and now it's created a change in football, where we've got goal-line technology, which is one bonus.
"It's happened, it's history. Frustration but nothing more than that."
Lampard believes Germany have improved since reaching the semi-finals in South Africa, but insists England can challenge their rivals.
"They've got a very, very strong international squad, not just the XI," Lampard said.
"Their style of play is very good. I think they've improved."
Bayern Munich beat Borussia Dortmund at Wembley in May to win the Champions League, but Chelsea pushed the European Cup winners close in the UEFA Super Cup in August and have twice beaten Schalke this season.
Lampard said: "We can't take too much away from ourselves. The English clubs at our best can give them as good as we get."
Lampard was awarded his 103rd cap as captain against Chile and hopes to feature again against Germany.
He added: "I'd love to play. It's what we're here for, particularly against Germany. I think it's going to be a full house here.
"They're our rivals, and not in a terrible way - it's a good rivalry. We've got a lot of respect for them, but we want to beat them.
"There's a lot at stake for us. When 80,000, 90,000 of your own people come to support you at home you really want to get a good result.
"And there is a lot of history there."