Gilmour made an impressive breakthrough in Chelsea’s midfield last season but his progress was cut short after he suffered a knee injury against Crystal Palace in July.
The Scotland Under-21 international required knee surgery and was sidelined for four months before he made his return for the national side last month.
And Gilmour was given his first minutes for Chelsea this season as he came on as a late substitute in the 4-0 win away to Sevilla in the Champions League.
‘Yeah, I’m pleased for Billy to get back on the pitch,’ Lampard told Chelsea TV after his side’s victory in Spain.
‘We saw his quality break through last year.
‘Again, a very well-respected and loved teammate in the dressing room because of how he is and how he trains, and the player he’s going to be, we all understand.
‘Delighted to get him minutes and hopefully he’ll get some more next week.’
In his post on Instagram after the match, Jorginho put up a picture of Gilmour along with the caption: ‘Happy to see you back on the pitch. Bebezinho.’
‘I’m pleased with where we’re at,’ said the Chelsea manager.
‘The levels will obviously go up in the next stage, which we’ve thankfully qualified for and we’ve topped the group at this early stage. So that’s great for our confidence but the levels will go up, the competition goes up, we found that out last year.
‘But we’re in a different place now. We are improving. I felt that and I’ll never be one to get carried away, but I knew at the start of the season, with the new players having some time to bed in, the younger players to mature. We’re seeing that in the younger players, the maturity of their levels.
‘The young players are reacting to competition and experienced players are affecting things and reacting to competition. Look at Oli today, but you could look around at other performances within that team, with Jorginho, Rudiger, Azpilicueta and others.
‘We have to keep improving because at this stage now things will get tougher game by game as we go through.
‘What I’m pleased with is we are in a position where we are gaining confidence so that we feel we can take on any opponent. That’s the progression that we’re in, today was another step for us.’