Lucas has told The Big Issue that he would not make a show like Little Britain, which ran more than a decade ago, in 2017, saying he believed society had "moved on".
"If I could go back and do Little Britain again, I wouldn't make those jokes about transvestites," Lucas told the magazine.
"I wouldn't play black characters.
"Basically, I wouldn't make that show now. It would upset people.
"We made a more cruel kind of comedy than I'd do now.
"Society has moved on a lot since then and my own views have evolved."
Lucas, who starred with David Walliams in Little Britain, added: "Now I think it's lazy for white people to get a laugh just by playing black characters."