He worked with the artists Peter Paul Rubens and Anthony van Dyck, as well as for patrons such as Thomas Howard, 21st Earl of Arundel and Charles I of England.
It is not clear whether there was a physical altercation between the two men, but the situation was sufficiently serious for Rubens' lawyers to petition the authorities for a protection order, which was granted.
[3] The exact causes of the dispute are not known, but it has generally been assumed that its source was in the issue of ownership of the authorial rights to the prints engraved by Vorsterman on the basis of Rubens' designs.
His pupils include Paulus Pontius, Hans Witdoeck, Jacob Neefs and Marinus Robyn van der Goes.
Vosterman's son Lucas Vorsterman II (born in 1624) was trained by his father as an engraver.