Lament of Innocence received generally positive reviews upon release, with praise for the origin story, gameplay, music, and graphics, though some criticized its repetitive level design and excessive backtracking.

[2][3] The objective of Lament of Innocence is to lead the primary player character and protagonist Leon Belmont through the monster-filled castle as he searches for his kidnapped beloved.

[6] Health restoratives and items to improve gaming statistics such as strength and defense can be purchased with in-game money from a shop on the castle grounds.

[7] In addition, Leon can combine one of five sub-weapons—a knife, an axe, a cross, a crystal, and holy water—with one of seven orbs to form a special attack.

[9] In contrast, Joachim uses five flying swords as his primary weapons; he lacks an inventory and the ability to use relics and purchase items from Rinaldo's shop.

[13] His close friend, Mathias Cronqvist, tells him that Leon's betrothed, Sara, is being held captive by the powerful vampire Walter Bernhard.

[1] The game's title in Japan, Castlevania, was meant to reflect the fact that Igarashi intended Lament of Innocence to be a new starting point for the series.

[31] Envisioning the concept of the game as possessing "fully connected rooms", Igarashi found that this hindered the map's accessibility and made the puzzles more difficult to solve.

[31] Lament of Innocence continues the style begun in Castlevania: Symphony of the Night (PlayStation, 1997), with Ayami Kojima as illustrator and Michiru Yamane as composer.

[31] Yamane made use of a wide range of styles, including dance music, solos on the piano, instrumental arias, and industrial rock.

[32] A Japanese limited edition was released simultaneously and contained bonus content: a painting by Kojima, a calendar, and a music CD.

[36] Edge stated: "While it's not as cleverly structured as the pinnacle of the series, Symphony of the Night, it resurrects that game's hallmarks of seductive exploration and satisfying topographical progress.

"[36] Play wrote: "A bold success as an incendiary action game, brilliantly nuanced in its mechanics and full of atmospheric appeal.

"[36] Conversely, Jeremy Jastrzab of PALGN wrote in an unfavorable review: "If you want to walk around a large repetitive castle, Castlevania: Lament of Innocence will do the job for you.

[41] The gameplay of Lament of Innocence received generally positive reaction from reviewers, who praised it as enjoyable, though not complex[4][6] and "intuitive".

[4][6][37] The Official PlayStation Magazine stated: "Proof that a Castlevania game can be done in 3D while retaining the essence of the series with great music and gameplay, and a stylized look.

[36][38][40] GameSpy praised it as "foreboding and well-played – ahead of the curve for a genre best known for making the player bite back laughs at fatuous melodrama,"[38] while GMR Magazine stated: "The story is treated with respect and subtle class (that is, if you disregard the lackluster dialogue), with the conclusion providing the foundation for the many eventual battles between the Belmonts & Dracula.

[4][5][8] According to GamePro's Mike Weigand, "[t]here's atmosphere to burn, too, as the vivid graphics bring shadows, fog, brick, and other surroundings to life.

1UP.com's Kurt Kalata wrote that the "dungeon-crawling gameplay and repetitive environments" prevented Lament of Innocence from succeeding as a game.