Lampard, the club's record goalscorer, was appointed by the Blues ahead of the 2019-20 season, having impressed with Derby County in the Championship.
The former England star guided Chelsea to a top-four finish in his first season as a Premier League boss, as well as the FA Cup final where they were beaten by Arsenal.
But there were few signs of progress by the time Lampard was sacked in January of this year, with the team in ninth, and he was replaced by Thomas Tuchel.
But despite being a key man in that side, Jorginho felt Lampard's inexperience told.
"Look, I'll be really sincere here on Lampard," he told ESPN Brasil.
"I believe, given he was a legend at the club, he skipped some steps necessary for learning before moving to a big club.