Dunga believes Lucio's time will come at Juventus, with the centre-back having to wait for a starting berth after suffering an injury early in the season.
The Bianconeri currently sit one point clear at the top of Serie A but Antonio Conte's faith in Leonardo Bonucci, Andrea Barzagli and Giorgio Chiellini as his three centre-backs leaves no space for the summer arrival from Inter.
"Am I surprised to see Lucio so little time on the field? I think it's only a matter of time before he plays, he pays for being injured early in the season," Dunga told Corriere dello Sport.
"Could he leave Juve in January? He is one who always wants to play and I'm sure he is doing everything to convince Conte of his talents. I would be surprised if he left: Lucio likes difficult things and he's not a guy who leaves during battles.
"What do I say to him? To stay calm and use all the opportunities he gets. As soon as he becomes a regular he won't leave the first-team."
Dunga himself spent six years playing in Serie A between 1987 and 1993, representing Pisa, Fiorentina and Juventus' opponents this weekend, Pescara.
When asked about Felipe Melo, who is spending a second consecutive season on loan at Galatasaray from Juventus, the 49-year-old said: "My 'old friend' Felipe Melo? He arrived at Juve at the wrong time. If he played with Pirlo he would be perfect."
And on Chelsea's attacking midfielder Oscar: "He's amazing, he will become a top player. Recently he has changed his style and has improved his build-up play."