Lapierre began karting in 1993. He moved into single-seater formulae and in 2003 joined the Formula 3 Euro Series with the Signature team, finishing 11th in the standings but winning the Macau Grand Prix, a prestigious non-championship event that has historically served as a significant calling card for young European drivers. He improved to third overall in the 2004 Formula 3 Euro Series.
In 2005 he progressed to the GP2 Series with Arden International, where he took the first pole position in that championship's history. Concurrent with his junior single-seater programme, Lapierre competed in the A1 Grand Prix series for A1 Team France, and the team went on to win the 2005–06 A1GP championship.
After an early sportscar appearance at Le Mans in 2007 and a period with Oreca, Lapierre joined the Toyota factory programme for the inaugural FIA World Endurance Championship season in 2012, driving the Toyota TS030 Hybrid. During his time with Toyota he scored wins at São Paulo, Fuji, Shanghai, Silverstone, and Spa, and recorded an overall podium at the 2014 24 Hours of Le Mans. He departed the Toyota line-up in early 2015.
Released from Toyota, Lapierre became the defining figure in LMP2 endurance racing over the following years. He won the Le Mans LMP2 class in 2015 with KCMG, then added further class victories in 2016, 2018, and 2019 with Signatech Alpine. The 2016 win came in the season that brought him the FIA Endurance Trophy LMP2 title; a second such title followed across the 2018–19 super-season. He also won the 12 Hours of Sebring twice during this period.
In 2021 Lapierre moved into the top class of the WEC as part of the Alpine programme, driving the Alpine A480, a grandfathered LMP1 car reclassified to compete in the Hypercar division. After a period back in LMP2 with Cool Racing, he returned to the top class in 2024 in the purpose-built Alpine A424 Hypercar. He announced his retirement from professional competition in October 2024. His final race was the 2024 6 Hours of Fuji, where he finished on the podium.
Following retirement Lapierre was appointed Sporting Director for the Alpine endurance team for 2025. He also serves as team principal of Cool Racing, which he has rebranded as CLX Motorsport — the C and X reflecting co-owners, the L standing for Lapierre himself.
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