That new attorney has filed an appeal, contending that Simpson was so badly represented by his lawyers in his 2008 armed robbery trial that he deserves a new trial.
The NFL Hall of Famer was convicted of charges including kidnapping and armed robbery at a Las Vegas hotel. Simpson was sentenced to nine to 33 years behind bars.
Simpson has maintained that he was just trying to get back sports memorabilia and family photos stolen from him after his 1995 acquittal in the Los Angeles slayings of his ex-wife, Nicole Brown Simpson, and her friend, Ronald Goldman.
The 94-page document filed on Tuesday says one of Simpson's lawyers, Yale Galanter, knew beforehand that Simpson was going to retrieve his possessions and even helped plan Simpson's effort to get his things back. The document states the two men even had dinner together at a casino restaurant the night before.
Galanter told a trial judge he "wasn't there" and "had nothing to do with" the confrontation. Galantar advised Simpson the plan was "legally permissible so long as there would be no trespass and no physical force used," the new court filing said.
The Associated Press contributed to this report.