He spent most of his 16-year professional career with PSV, winning nine major titles with the club, notably four Eredivisie championships, and appearing in 254 games in the competition overall (17 goals).

[1] In the 1996–97 season, newly appointed manager Kees Zwamborn awarded Lucius with his senior official debut, an Eerste Divisie match away against BV Veendam on 20 August 1996 (0–1 loss), and the player was an undisputed starter in his two years with the 's-Hertogenbosch side, as it consecutively fell short in the promotion playoffs.

When Erik Gerets took over from the English, Lucius was sent on loan to Utrecht, returning to the Philips side for the 2000–01 campaign and continuing to be regularly used under both the Belgian and his successor, Guus Hiddink, as the club won four Eredivisie championships, also reaching the semifinals in the 2004–05 edition of the UEFA Champions League, being eliminated by A.C. Milan in the dying seconds of the game (3–1 home win, after a 0–2 loss in the first leg); in his last two years, the player was used more as a right back.

[4] After one year he joined RKC Waalwijk on an amateur basis, but left after only one month due to lack of playing time,[5] rejoining his previous club in the following transfer window.

On 4 June 2005, Lucius made his debut with the Netherlands, led by Marco van Basten, in a 2–0 home win against Romania for the 2006 FIFA World Cup qualifiers.