Tuchel has replaced Lampard at Stamford Bridge after he was sacked on Monday.
In his unveiling press conference on Thursday, Tuchel expressed his admiration for Lampard and revealed the former boss had been in touch with him since his appointment.
Asked if he feared a fan backlash after replacing the club legend, Tuchel said: “I hope not because that would be hard on the team. We need our supporters like any team. To have the fans so close and behind the team makes a real difference. I can assume it is a big, big disappointment for the fanbase to see Frank sacked.
“I was a huge fan of Frank as a player. He was one of the key figures to demonstrate in 90 minutes what Chelsea is about. I have the biggest respect for him.
“It just got bigger when I received a personal message to wish me all the best and maybe meet in the future when this is possible.”