Lampard's shot against Germany in Bloemfontein clearly crossed the line during the 2010 World Cup in South Africa but officials did not award a goal and that set in motion a change of events that saw FIFA president Sepp Blatter change his mind on technology.
"It's a no brainer. It's been a bit of time coming, but they got there in the end, said Lampard. "It's a very good thing for football. I think it's a simple thing. I think it will bring an excitement factor on the times that it is used and it will just give you the correct answer, which I think at this level, when it's so important, we need that."
Premier League chief executive Richard Scudamore said the ability to make the replays available had been the decisive factor in choosing Hawkeye.
He said: "The fact it was a camera-based system was critical. Replays will be made available to all our host broadcasters and we are examining the feasibility of them being used on in-stadium big-screens. It is essential that fans see the system in action to know that it is working."
The agreement, hailed by England manager Roy Hodgson as "a momentous day" for football, will see all 20 top-flight clubs use the system and the Football Association is set to follow suit with Wembley Stadium.
The first domestic match to use the system should be the Community Shield at Wembley on August 11, and the first Premier League match the 12.45pm kick-off on August 17. The FA has been part of negotiations along with the Premier League but still has to sign a separate agreement with Hawkeye - a German system, GoalControl, had also been under consideration after submitting a tender.
Hodgson said: "It's something that people in football have wanted for a long, long time. It has been a big debate and it was pushed back but it's great now to see that everyone is on the same page and that they have introduced it.
"At least it will stop some of those gross injustices that we have seen in recent years where goals have obviously been scored and not allowed.
"It will be one of those momentous days in football. It will alongside days like the changing the offside law, and not least the backpass to the goalkeeper law which at the time many of us were very sceptical about at the time but now we have taken to our hearts and appreciate it."
- Sports & Recreation