The 35-year-old has missed most of the pre-season campaign because of an Achilles injury, but has played a part in Chelsea's past two friendlies.
Despite only playing a total of 90 minutes in the off-season, Lampard said he will be fit and ready to go for his team's season opener at Stamford Bridge.
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"There is no pain with the injury any more. I am feeling good," Lampard told reporters. "I like to think I am a pretty fit bloke and will be ready for Hull.
"I have trained the first week of pre-season and now the last week too, and I have trained hard. I've looked after myself in between, so if the manager wants me, I am there and I am ready."
Lampard may also play a part for England in their international friendly against Scotland to be played at Wembley on Wednesday.
While he hinted he may not be able to complete a full match, Lampard said he wanted to play some part.
"I am looking forward to joining up with England and I would love to take part at some point," he continued.
"And what a great game it is. I know people have moaned about when the game is, and that is understandable, but when you're playing against Scotland, what a fantastic game for us to play."