Spurs' Lo Celso appeared to stamp on Cesar Azpilicueta and, despite the incident having been reviewed by VAR, referee Michael Oliver took no action.
However, it later transpired the VAR team accepted mid-game they had made an error, but Lampard -- whose Chelsea side saw two goals overturned for this side in their 2-0 defeat to Manchester United -- did not accept the explanation.
"It is not good enough, that is two VARs in two games, it is hard to shout about it when you have lost but today everybody saw that," Lampard said after the match. "It is a red.
"I hate to call for red cards but that is a leg breaker. I am not saying about referees on the spot, VAR is here to clear things up and it is not good enough."
Spurs boss Jose Mourinho was also asked about the incident and said VAR should have the same explanation for a variety of other missed incidents this season.
"I hope the noise is the same noise as when VAR kills us," he said. "Against Liverpool, [Andy] Robertson should get a red card.
"Watford, [Etienne] Capoue should get a red card twice with the same referee. Why didn't they say when they made a mistake vs. Liverpool?"