The Chelsea midfielder expects a tough test in the Three Lions' final World Cup qualifier at Wembley on Tuesday and backs in-form striker Wayne Rooney to make the difference.
The Three Lions go into the game on top of Group H following Friday's victory over Montenegro, and know that a win will guarantee them a spot in Brazil next summer.
Poland's defeat to Ukraine on Tuesday means that Waldemar Fornalik's side can no longer qualify for the tournament, but Lampard feels that it will still provide a tough test.
"Possibly Poland will relax more and they could be more dangerous," he told reporters. "For starters, everyone loves playing at Wembley and they have some big-name players in their team. We have to make sure we have the extra edge. We need to come out firing on Tuesday."
With second-place Ukraine facing San Marino, England could still miss out on an automatic qualification should it fail to beat Poland, but Lampard says the squad is highly motivated for the Wembley clash.
"For us, the World Cup is very exciting. It will be fantastic in Brazil and an England team not being there would be a bad thing," he added. "I think it is pushing all of us on. The Poland game is huge, not just for me but for for everyone. Not just for the fact it may be my last World Cup - it is the fact there is an England team wanting to get there.
"Brazil is one of the homes of football ... just look at the history, the flamboyance. We played there in the summer and you could feel the magic around the place. If you are playing for your country, you want to be there next year."
The Chelsea midfielder has also tipped Wayne Rooney to make an impact again after the Manchester United striker opened the scoring against Montenegro.
"Wayne Rooney is fit and fresh at the minute," Lampard said. "He has a very clear head. Like that, he is such a world-class talent and he makes a difference."