The Three Lions won 5-0 over Moldova in their first qualifier with Lampard scoring twice, but the Chelsea midfielder is adamant that the Ukrainians will provide a much sterner test.
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"It was a pretty impressive performance and a tough match for the team even though we got the win.
"They are certainly going to come to Wembley with intentions to make it difficult for us and show what they are about, so we will have to be on top form.
"We need to rest up, prepare right and try and keep the level of performance we are producing."
Lampard also spoke of his delight to be back on the international stage, and his excitement at the young players in the current squad.
He added: "It was great. I really enjoyed it. I've enjoyed the whole week and being part of it.
"The older you get, the more you appreciate it.
"It won't go on forever so I'm just enjoying playing at the moment with exciting young players around.
"When you are part of a good performance and see the young players coming through, it gives a bit of excitement."
Lampard’s team-mate in midfield Steven Gerrard agreed that the Ukrainians will pose a significant threat in their next game, and the team must be wary.
Gerrard said: "It will be a different test on Tuesday.
"With all due respect to Moldova, Ukraine are a fantastic team as they showed in the Euros. I'm sure it will be a lot tougher test."
Right-back Glen Johnson stressed the importance of getting a good start in the qualifying campaign, and admitted that he may have to be more careful after finding himself booked after only four minutes for kicking the ball away.
"We will look to start well again on Tuesday and hopefully get the same result," he said. "It is important to start the campaign well. We knew Moldova wasn't going to be an easy place to come.
"We worked like we usually do, we tried to start well and were fortunate to get a couple of early goals."
On the booking, Johnson admitted being slightly confused as to his offence, but thought that the team showed their discipline well throughout.
He added: "I thought, 'if I'm getting booked for that, I can get booked for anything', so I was doing my best to stay away from a few people.
"I don't know what I was booked for to be honest. But we showed our discipline all over the park."