He received his musical education as an altar boy at the Chapel of Gaston d'Orléans, a brother of king Louis XIII.

After his marriage, Lambert's career became closely linked to his sister-in-law and famous singer Hilaire Dupuis (1625–1709).

Beginning in 1656, his reputation as a composer was established and his compositions were regularly printed by Ballard.

Lambert's role as a singing master ("Maître de chant") and composer of dramatic airs contributed to the creation of French tragédie lyrique.

Titon du Tillet mentions concerts given at his house in Puteaux, during which Lambert accompanied himself on the theorbo.