Lucas attended Norfolk State University, graduating cum laude with a Bachelor of Science in Vocational-Industrial Education in 1976.

She earned a Master of Arts, graduating magna cum laude, in Urban Affairs with a concentration in Human Resources Planning and Administration in 1982.

[9] A longtime civic activist, in June 1984 Lucas began her formal political career by becoming the first African American woman to serve on the Portsmouth City Council.

Lucas is also a member of the following organizations: Delta Sigma Theta sorority (Golden Life status); The Links, Incorporated (Portsmouth Chapter); Order of Eastern Star (Brighton Light Chapter 118), Prince Hall Freemasonry of Virginia, National Women's Political Caucus, National Council of Christians and Jews.

[12][13] In early July, Lucas had filed a civil defamation case against Virginia Beach lawyer Tim Anderson, based on his social media posts and interviews about the incident.

[14] On November 16, 2020, Richmond judge Claire Cardwell (sitting by appointment of the Virginia Supreme Court because local Portsmouth judges recused themselves) accepted the motion of the city's elected Commonwealth's Attorney, Stephanie Morales, to dismiss the criminal charges as based upon insufficient evidence, including of intent.

[15][16][17] Police chief Greene had been placed on leave after filing the charges (usually the responsibility of the local Commonwealth Attorney), and fired by the acting city manager on November 16, 2020.

On July 2, 2021, Chesapeake Circuit Court Chief Judge John W. Brown dismissed a motion accompanied by a 4,600-voter petition circulated by the Virginia Tea Party, which sought to invoke a law allowing for 10% of voters to petition for the judicial removal of state officials; the judge remarking that under Virginia's constitution, only the state Senate could expel one of its members.

[21] Following mediation, the city of Portsmouth agreed on December 23, 2021, to pay Lucas $300,000 in exchange for dismissal of her civil lawsuit which initially asked for $6.75 million in damages for malicious prosecution, false imprisonment and gross negligence in the matter.

[22] In June 2023, Lucas won the Democratic primary to retain her seat, despite redistricting which placed her in the same district as another veteran state senator, Lionell Spruill.

[24] Lucas is the mother of two daughters, Lisa L. Lucas-Burke and Theresa Lynn Lucas-Lamb, who partner with her in various business entities.