The Reds face Premier League leaders Manchester City at Anfield on Sunday.
Lucas believes the title will be won by either City or Manchester United this season.
“The title seems pretty much a dispute between the two Manchester clubs,” he told The Sun.
“United have won four of the last five Premier League titles, so it is really no surprise they are doing well again. But nobody really expected them to be hammered 6-1 by City at Old Trafford earlier this season.
“City are no surprise, either, given the money they have been investing in star players since 2008. They now almost have two teams. I think it was only a matter of time before things began to click for them.
“The important thing is that the players are starting to accept Mancini’s philosophy as a manager. But they are not unbeatable and I watched City against QPR a few weeks ago. They really struggled to win that game.
“Chelsea, I think, will be waiting in the wings behind the Manchester clubs. And then we have Spurs and Arsenal, who are both dangerous opponents and rivals for fourth place.
“Spurs are benefiting from the lack of Champions League football and the fact they have had the same core group of players for the last couple of seasons.”
