Lampard sparked an end-of-match brawl between players and staff after he hit back at taunting fans at the final whistle.
Saints player Leo Scienza took issue with Lampard's actions and his move against the Sky Blues manager saw both sets of players and staff clash.
After the 1-1 draw, Lampard apologised, stating: “I’ve got no problem with it, it’s fine. I understand when a player, in front of their own fans, defends the situation.
“We’ve got this modern-day phenomenon where the fans can say anything to you for the last ten minutes on the line.
“But you’re not allowed to walk on the pitch when you’ve got emotions high.
“Heart on sleeve, I feel a bit calmer now. I apologise for my language, and maybe that stand will apologise for their language.
“I’m well and truly over that one and it got a bit heated, but sometimes you take those 99 minutes, and you’re hanging on and seeing the players do what they do, and I feel I live it with them.
“I went on the pitch, that’s my prerogative.
“I can look back and reflect on it, but yeah, like I say, fans can say one thing, but we’re the ones in the arena fighting for something and we got a point.”
Despite the draw, Coventry sit six points clear at the top of the Championship table.