The US and NATO say the shield will come into full operation by around 2020 and is to protect against "rogue" states such as Iran.
Lavrov said US ambassador Michael McFaul had "arrogantly" rejected Russia`s concerns about US missile shield plans.
The offer was made by Deputy Assistant Secretary of Defence Robert Scher who said that the Indo-US defence ties were valuable and critical.
Russia threatened to walk out of a key nuclear arms cut treaty if the US continued to deploy in Europe the missile defence shield, which is seen by
Moscow as a challenge to its atomic deterrence.
Moscow leaders say, missile defense plan could be aimed at Russian missiles.
Medvedev`s participation in Lisbon marked the first meeting between a Russian president and the 28-nation alliance since his country`s 2008 war with Georgia.
Russian President Dmitry Medvedev agreed to involve technicians in development plans.
NATO plans to invite Russia to join the missile shield effort.
US seeks to shore up regional defences in face of a missile threat from Iran.
A Romanian official
says negotiations have begun with the US on placing
anti-ballistic interceptors in Romania as part of a revamped
US missile shield.
Iran began building a powerful missile defence system which can fire 4,000 shots per minute and destroy cruise missiles heading towards the country.
The United States and Russia have
agreed that a new arms control treaty will mention a link
between offensive nuclear arms and defences against them, the
US ambassador to Moscow said on Thursday.
NATO would protect its member countries and populations with an anti-missile shield if Iran got its hands on a nuclear bomb.
Russia and the US could deploy a
joint missile shield to protect Europe from Iranian long-range
missiles in future, a former Russian general has said.
Day in Pics: 25th December
Showbiz World - December 25, 2014
Sunny Leone with Mastizaade