Said to have been a pupil of Federico Barocci, Lilio created a popular niche for himself by painting allegories for aristocratic audiences.
In fact, it is altogether possible that Lilio collaborated for the illustrations of Cesare Ripa's Iconologia, which was a popular source for such motifs for a very long time.
In a chapel of the Chiesa Nuova, he painted The Archangel Michael driving fallen angels from Heaven.
He continued to ornament churches and convents of Rome during the reign of Pope Clement VIII.
He painted the Christ Washing the Feet of His Disciples for the nave of Santa Maria Maggiore in Rome.