The glam rocker said his liberal parents brushed off his sexy stage performance at the American Music Awards last November in which he simulated oral sex, groping and a same-sex lip-lock on stage.
"My dad is a Deadhead, my mom's a Jewish-American princess from Jersey," he told Fuse TV in an interview airing Monday.
U.S. & World
News from around the country and around the globe
"They never got hung up on stuff like that, and I'm fortunate, because there's a lot of people who come from households where it's not OK."
The sexed-up singing act caused Lambert to get the boot from a subsequent appearance on ABC's G-rated "Good Morning America" after the broadcaster received more than 1,500 complaints for the award show performance.
The singer, who is openly gay, copped up to going a bit too far but stopped short of apologizing for his steamy performance and claimed his sexual orientation was what sparked the controversy.
"I'm a performer, not a babysitter," he told CBS' "The Early Show" in November. "I admit I did get carried away, but I don't see anything wrong with it. I do see how people got offended and that was not my intention.
"My intention was to interpret the lyrics of my song and have a good time with it."
Lambert, who came out as gay in Rolling Stone last year, said he's comfortable with his decision.
"I don't even think about it anymore until all of this started happening with my career," he told Fuse. "And it's interesting now, because I am open and visible. I suppose it is important to talk about it, but the past eight or nine years of my life, I haven't thought twice about it, it's just who I am."