Lambert and original Queen members Brian May and Roger Taylor made the announcement on "Good Morning America" on Thursday.
Lambert said it's a dream come true "to be able to bring these songs to life on stage" with "rock royalty members."
The British band has performed with Lambert many times over the years overseas and in the U.S., but the band has never toured with the "American Idol" alum in North America.
Lambert and Queen first teamed up in 2009 to perform "We are the Champions" during the season eight finale of "American Idol." Singer Kris Allen won that season, and Lambert was the runner-up.
They teamed up once again in 2011 at the MTV European Music Awards in Belfast. In 2012, they performed across Europe, Russia, Ukraine and Poland. They also had three sold-out shows at London's Hammersmith Apollo.
Since his "Idol" days, Lambert has released two albums. His debut album, "For Your Entertainment," earned him a Grammy nod for best male pop vocal performance, and his second album, "Trespassing," debuted at the top of the Billboard chart.
The upcoming 19-date North American tour will kick off June 19 at the United Center in Chicago. The tour will take May, Taylor and Lambert to New York, Los Angeles, Dallas, Vancouver, Montreal, Las Vegas and will wrap July 20 in Washington, D.C., at the Merriweather Post Pavilion.
Queen's iconic frontman, Freddie Mercury, died in 1991 of complications from AIDS. The band's bassist, John Deacon, who wrote a number of Queen's hit songs like "Another One Bites the Dust," has retired from music.
Tickets go on sale Friday.
ABC News contributed to this report.