The Newcastle United legend will join the Rams as head goalkeeping coach from July 9, while Chris Jones and Stephen Rands have agreed to become first-team coach and head of performance analysis respectively.
Jones has spent time working at Lampard's former club Chelsea in a coaching position, and Jones also drops down from the Premier League, having previously been employed by champions Manchester City.
Given's role is his first in coaching since ending his 23-year playing career in 2017, but Lampard believes that the Irishman can be a big hit at Pride Park.
"I know Shay and his standing in the game as a goalkeeper and he's right up there at the very top," he told County's official website. "He's had many, many, years as a top goalkeeper. Performance wise he was incredible and he has now achieved his goalkeeper coaching license.
"I'm very pleased to have Shay as part of the team and not just for what he will bring as a goalkeeper coach, but what he will also bring to the dressing room in a much broader scheme."
Derby kick off their Championship campaign with a trip to Reading on August 3.