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Cole left Stamford Bridge in the summer of 2014 after a trophy-rich eight-year spell in SW6, where he became the winner of the Premier League and the Champions League.
After a short spell in Rome in Serie A, Cole moved to MLS in January 2016 and joined LA Galaxy, where he played for just under three years.
Now 38, Cole said Lampard's presence at Pride Park made it easier to return to those shores.
"I had a conversation with Frank a month ago, maybe two months," Cole told Derby's website.
"It was just a general discussion about the quality of the team and he asked if I would be interested in coming here because a young player wanted to go on loan. So it was obvious.
"I kept in touch with him and I followed Derby since he was in that position. I have respected him a lot since I played with him and because of what he did here in no time. He was fantastic, but he's my boss now, it's not like I took shortcuts or was expecting more, because he's my friend, no. & # 39;
Read: The career of Ashley Cole in Chelsea
Lampard explained why he was so happy to acquire the services of Cole, who represented England 107 times.
"He is a fantastic player, a good-looking left-back, and he also brings a great experience to the locker room," he said.
"I have known him very well since our time together in Chelsea and England, and I know what he can bring to the group and the influence he will have.
Ashley is in good shape, which does not surprise me because he is an excellent professional and he will compete for a place in the group like all the other players here.
"I have been telling my feelings in recent days how much I was thinking about Ashley and I have no doubt that he would make a positive addition to our team."
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Cole left Stamford Bridge in the summer of 2014 after a trophy-rich eight-year spell in SW6, where he became the winner of the Premier League and the Champions League.
After a short spell in Rome in Serie A, Cole moved to MLS in January 2016 and joined LA Galaxy, where he played for just under three years.
Now 38, Cole said Lampard's presence at Pride Park made it easier to return to those shores.
"I had a conversation with Frank a month ago, maybe two months," Cole told Derby's website.
"It was just a general discussion about the quality of the team and he asked if I would be interested in coming here because a young player wanted to go on loan. So it was obvious.
"I kept in touch with him and I followed Derby since he was in that position. I have respected him a lot since I played with him and because of what he did here in no time. He was fantastic, but he's my boss now, it's not like I took shortcuts or was expecting more, because he's my friend, no. & # 39;
Read: The career of Ashley Cole in Chelsea
Lampard explained why he was so happy to acquire the services of Cole, who represented England 107 times.
"He is a fantastic player, a good-looking left-back, and he also brings a great experience to the locker room," he said.
"I have known him very well since our time together in Chelsea and England, and I know what he can bring to the group and the influence he will have.
Ashley is in good shape, which does not surprise me because he is an excellent professional and he will compete for a place in the group like all the other players here.
"I have been telling my feelings in recent days how much I was thinking about Ashley and I have no doubt that he would make a positive addition to our team."
