Lucy was born at Norton Canon, Herefordshire. He was descended from the Lucys of Charlecote, Warwickshire. He studied in Paris under Paul Delaroche. He is best known for his The landing of the Pilgrim Fathers in the National Heritage Museum, Lexington, Massachusetts, USA; engravings of Oliver Cromwell; and a painting of the burial of King Charles I of England in St. George's Chapel, Windsor Castle. This painting was sold by Bonhams, London in October 2006. He exhibited mainly at the Royal Academy of Arts, London. He died in Hereford and is buried in Highgate Cemetery, North London.The sale of the contents of his studio (including unsold paintings) was held at Christie's, London, 4–5 June 1875.