Lampard has missed the majority of pre-season with an Achilles problem, but returned to play 45 minutes in each of Chelsea's last two friendlies against Real Madrid and Roma.
After coming on to score against Roma in Washington on Sunday, the 35-year-old believes that he will be ready to play Hull, a match which marks Jose Mourinho's competitive return to Stamford Bridge.
He told the Daily Mail: "There is no pain with the injury any more, I am feeling good.
"I like to think I am a pretty fit bloke and will be ready for Hull."
The 35-year-old will miss England's friendly against Scotland on Wednesday, while Blues boss Mourinho recently insisted that he will take care to aid the veteran's swift recovery.