Despite a moment of hesitation from referee Andre Marriner, the Croatian was adjudged to have brought down Sadio Mane just outside the area.
The decision incensed Lampard, who subsequently voiced his disagreement to the Liverpool coaching staff calling for a free-kick.
A back and forth between the Blues boss and the hosts’ coaching staff ensued, part of which can be seen in footage from Sky Sports.
"I am not asking you..." 😡
Frank Lampard was involved in a heated row with the Liverpool bench on Wednesday - and then saw Trent Alexander-Arnold smash one in to the top corner 🚀 pic.twitter.com/HWztPiTUvv— Sky Sports Premier League (@SkySportsPL)July 23, 2020
Lampard says: “That’s not a f*****g foul. I’m not asking you, I’m asking him to shut up!”
He then turns to Klopp and adds: “Shut up. F*** off you as well. Tell them to show some respect. Sit down.”
Following the disagreement, Trent Alexander-Arnold clocked up another set-piece goal as he struck the ball beyond Kepa Arrizabalaga.
The strike prompted Lijnders to once again rise from his seat, with Klopp then asking him to return and Lampard offering a less than sincere thumbs-up.