Wayne Rooney had given the Three Lions a first-half lead with a clinical finish after good work from Theo Walcott, but Gary Cahill’s mistake allowed Fred to equalise in the 47th minute.
However, Lampard, who replaced Tom Cleverley after the interval, scored an instinctive first-time strike to seal victory for Roy Hodgson’s men.
Here is the best of the Twitter reaction to England’s historic feat, in chronological order.
Tottenham midfielder Tom Huddlestone (@TomHuddlestone6) is looking forward to a big game: “Good luck to England tonight, will be tough against this Brazil team!! Amazing achievement by Ashley Cole as well, full credit to him!”
Real Madrid playmaker Kaka (@KAKA) is also excited: “Classic of international soccer, England vs Brazil! Good luck Brazil!!#RumoaoHexa #Gaucho100”
Blackpool forward Thomas Ince (@RealThomasInce) is fresh from his Under-21 heroics and ready for the match: “England vs Brazil….. This is what it’s about #whatagame!”
England legend Gary Lineker ([email protected]) heaps praise on Joe Hart for his penalty save: “Great save from Hart. Poor penalty after a rubbish decision!”
Hart’s team-mate John Guidetti (@superguidetti) reckons the England No1 is the best goalkeeper in the world: “Wow Joe Hart truly is the best in the world!”
Former Newcastle defender Warren Barton ([email protected]) compares Hart to Gordon Banks: “Great save.. Just like Banks..!!”
Ex-Chelsea midfielder Jody Morris ([email protected]) enjoyed England’s goal: “Good run and top pass from Wilshere to Walcott.. calm finish from the Rooney.”
Arsenal legend Ray Parlour (@RealRomfordPele) likes the look of England’s new midfield partnership: “Wilshire and Gerrard look a great partnership in the middle of midfield!”
While former Liverpool striker Stan Collymore ([email protected]) believes Tom Cleverley and Wilshere also look promising together: “If Gerrard/Lampard were always together purely on form/status but weren’t naturally matched – Cleverley/Wilshere just look natural.”
Marseille midfielder Joey Barton ([email protected]) is not impressed by Brazil’s star man: “This Neymar fella is massively overrated. Not in the same street as Messi or Ronaldo.”
Ex-Sunderland midfielder Michael Gray ([email protected]) is critical of Gary Cahill in the lead up to Brazil’s goal: “That’s what happens when you give the ball away against the top international sides… They punish you #EnglandvBrazil!
Former Spain midfielder Gaizka Mendieta ([email protected]) is a good judge of what constitutes a special strike: “What a finish by Lampard that is!! Wonderful touch!! #EnglandvBrazil”
Ex-Wimbledon star Jason Euell ([email protected]) agrees with Mendieta: “That’s a finish from Lampard. Pure technique and composure..”
Ajax striker Ryan Babel ([email protected]) is impressed by Walcott’s performance: “Adriano having a hard time with Theo…”
Everton captain Phil Neville ([email protected]) praises England’s achievement: “Very good performance, enjoyed watching England tonight, well done lads.”
Finally, former England cricketer Ian Botham (@BeefyBotham) is starting the hype ahead of next year’s tournament: “Well played England, great result tonight….. World Cup?????”
MORE: The latest football news