Terry was jeered by a minority of supporters during Wednesday night’s friendly win over Egypt.
Lampard said: “The unity in the squad is fine. We’ve only been together two or three days and everyone is here to concentrate on football and not concentrate on anything else.
“We’ve certainly done that. The manager is always very strong on that. We’ve trained, we’ve rested and there is a good spirit in the team.
“The boos for John (Terry) were half expected. It has happened before. We know it doesn’t do too many favours and I hope it doesn’t happen again.
“Overall It was the kind of work-out we were looking for. Egypt showed themselves to be a very capable team, very good on the ball. That’s why they are African Nations Cup champions.
“I think we worked hard but missed chances in the first half and, once we had got a goal back, we showed our character and quality.”