The left-arm seamer, who can move the ball both ways, began his senior career with six injury-hit years on the Nottinghamshire staff. His first-class debut came in 1999 but he did not make a County Championship appearance for Notts after 2001.
Lucas spent a season with Yorkshire in 2005 and, following a year without senior county action, joined Northamptonshire in 2007. He became a consistently strong performer and took 58 championship wickets in 2009 as Northants narrowly missed out on promotion.
Competition for places saw him leave for Worcestershire at the end of the 2011 season when Northants again came agonising close to going up.