However, the official waved play on, having indicated that the distance between the two players meant that Lampard had little chance to get out of the way of the ball's path.
Reflecting on the decision, United midfielder Cleverley has conceded that he would have been "disappointed" had the decision been given against him if the circumstances had been reversed.
"It's possible that we could have had a penalty when Frank Lampard blocked my shot with his hands. While I'm disappointed that it wasn't given, I recognise that if it had been given against me then I'd have been just as disappointed. I've seen them given, but on this occasion our luck was out," he wrote on his official Facebook page.
Next up for United is a trip to Liverpool on Sunday afternoon.