It has long been suspected that Lampard has been in conflict with Villas-Boas, particularly after the manager recently said there are a number of players in his squad who no longer back his project.
Lampard has now confirmed that there have been issues, although he stressed that he wanted to remain positive.
He said of their relationship: "I think, from the outside, you can probably see that it's not been ideal but the important thing is not to focus on individual relationships too much. It can only be negative and people do like to play on negatives."
As Villas-Boas himself earlier said, Lampard is not alone in expressing problems with the manager, and the midfielder added: "There have been certain issues. Certain players, we don't like not to play, but it's never a case of players throwing their toys out of the pram to the detriment of the club."
Lampard has been in and out of the Chelsea side all season and, with the club having been on a five-game run without a victory prior to the defeat of Bolton, he appears to feel he deserved more game time.
"I've been here a long time, I'm 33, I'm realistic," he said. "It doesn't mean I want to play every game but, if I sit on the bench, I want to see Chelsea win.
"I'm sure we're all frustrated at the minute, everyone who's involved - especially people who have got Chelsea in their hearts, who have been here a long time and want to see us performing as we should do."
He added: "The only way we can push on from now - and secure Champions League football next year, potentially move through in the FA Cup and the Champions League this year - is to be positive.
"It's in the club's interest. It's not about any one individual here and negative things can take the shine off it."