The iconic band announced Thursday on "Good Morning America" that the 19-date U.S. tour kicks off June 19 in Chicago. It wraps July 20 in Washington, D.C.
Lambert first performed with Queen in 2009 when he was a contestant on "American Idol," where he placed second. The band and Lambert have since performed together, including last year's iHeartRadio Music Festival in Las Vegas. They sang such hits as "We Are the Champions" and "We Will Rock You."
Queen frontman Freddie Mercury died in 1991.
Original members Brian May and Roger Taylor will be joined by Lambert at a news conference in New York on Thursday.
Tickets for the tour go on sale Friday.