Lampard was a kick away from his 200th Chelsea goal when he lined up a second-half spot-kick at the Etihad Stadium but Joe Hart, who stayed on after fouling Demba Ba, saved from his England team-mate.
Yaya Toure made Chelsea pay with a fine finish from inside the area and substitute Tevez made the 2-0 victory certain with a long-range effort late on.
The result reduced Manchester United's lead at the top of the table to 12 points but, perhaps more importantly with the title drifting away, increased City's advantage over third-placed Chelsea to seven.
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- Yaya Toure