Sixth-placed Derby currently occupy the final promotion playoff spot with Lampard's side, Middlesbrough and Bristol City separated by just one point.
"Frank Lampard has been charged with misconduct following the fixture between Birmingham City and Derby County on Friday in the EFL Championship," the FA said in a statement.
"It is alleged his language and/or behaviour on the field of play after the conclusion of the fixture amounts to improper conduct."
It is the second time the former England midfielder has been hit with a misconduct charge. He was fined £2,000 in September last year for leaving his technical area to argue with a match official in a 1-0 defeat by Rotherham United.
Lampard has until 1800 on Monday to respond to the charge.
(Reporting by Rohith Nair in Bengaluru; Editing by Toby Davis)
