The Three Lions travel to Ukraine in Group H on Tuesday with the chance to extend their lead at the top of the table.
A win for Ukraine would move them to the head of the group with just two games remaining, but Zidane is confident that Lampard will lead England to Brazil.
"England are going to be there but it's going to be complicated," Zidane told BBC Sport. "I am sure they are going to make a great World Cup because they have a strong team and I am sure they are going to do something interesting, but it is going to be tough in Brazil.
"Every team has a chance when they are in the final rounds and England is one of them. England is a great team as a whole.
"The one that is standing out and is really a leader is Lampard."
Zidane won the World Cup with France in 1998.