The 46-year-old former Chelsea, Derby County and Everton boss has agreed a two and a half year deal to become the new Sky Blues head coach.
The club statement read: "Coventry City are delighted to announce the appointment of Frank Lampard as the Club’s new Head Coach.
"The 46-year-old has signed a two and a half year contract with the Sky Blues and will take charge of City for the first time this Saturday against Cardiff City at the Coventry Building Society Arena.
"Frank will be supported by two new coaches, Joe Edwards and Chris Jones, who he has worked with extensively previously.
"Lampard has enjoyed an illustrious career in football, both on and off the pitch.
"Frank began his managerial career at Derby County in 2018 and in his first season led the Rams to a 6th place finish and the Championship Play-Off Final.
"That resulted in a move to his former club Chelsea in 2019 as Head Coach. At Stamford Bridge he guided the Blues to a 4th place finish and Champions League qualification, plus the 2020 FA Cup Final.
"He left Chelsea in 2021 and then had a spell as Everton boss from January 2022 to January 2023, before returning to Chelsea as Interim Manager at the end of the 2022/23 campaign.
"This followed an illustrious playing career, which saw him represent Chelsea 648 times and score 211 goals – becoming their record all-time goal-scorer.
Lampard, 46, takes over with the club 17th in the Championship table, two points above the relegation places.
He replaces the long-serving Mark Robins, who was sacked after seven years in charge earlier this month, and becomes the first new appointment made by Sky Blues owner Doug King since he completed his takeover in January 2023.
The Coventry job will be Lampard fifth's in management, following spells at Derby County, Everton and two stints with Chelsea.