Warnings are in place for English fans that they may be targeted by Ukranian hooligans and the Arsenal player's family will stay at home amid fears that they could be caught up in trouble.
Lescott told reporters: "It is a shame they have to make that decision for nothing to do with football.
"Theo [Walcott] is a vital member of the squad. He is likely to play a lot of games and have a big role in the team. It is a shame his family won't be able to go and support him.
"Theo is a vital member of the squad. He is likely to play a lot of games and have a big role in the team. It is a shame his family won't be able to go and support him" - Joleon Lescott
"I understand it though, if they feel it is going to be a problem when he is out there.
"My family won't be going either. Not for any particular reason, they just won't be going."
The 29-year-old insisted that racism will not be a problem in Poland and Ukraine if it is stamped out at an early stage but admitted he was unhappy to have to discuss such matters.
He added: "It is shame we are talking about it but I think we always will be.
"You can't get rid of it from people's minds.
"It is a touchy subject for some people to talk about. But if you address it pretty early I don't think it will be a problem.
"On the whole, our country deals with it pretty well. It is not as bad in England as it is in other countries."