Lambert was born at Champigny-sur-Veude, France. He received his musical education as an altar boy at the Chapel of Gaston d'Orléans. He studied also with Pierre de Nyert in Paris. Since 1636, he was known as a singing teacher. In 1641, he married singer Gabrielle Dupuis who died suddenly a year later. Their daughter Madeleine became a wife of Jean-Baptiste Lully (in 1662). After his marriage, Lambert's career became closely linked to his sister-in-law and famous singer Hilaire Dupuy (1625-1709). He died at Paris, France.