The London Wasps-bound flanker is poised to win his first cap since last year's World Cup after being named in the side by Lancaster to face South Africa in Saturday's third Test.
Haskell was not involved as Lancaster began his England revamp during the Six Nations having opted to play club rugby in Japan and New Zealand.
Given Lancaster's desire to freshen the squad after the shambles of a World Cup campaign dominated by off-field headlines, it was felt in some quarters Haskell may have been too closely associated with the old regime for the new boss.
But Lancaster insists that was not the case and feels the 27-year-old has fitted in well since being called into the squad for the summer tour.
Lancaster said: "People had told me and given me the indication that he was an extrovert, but for me he has been brilliant.
"He has brought a lot of energy to the side and he has certainly brought a lot of experience.
"He is just enthusiastic and wants to do well, he wants to improve.
"He is always working at the end of training on his skills.
"We have got on well and it has been good.
"We are looking for him to bring his physicality to our back row as a defender and a ball-carrier."
Haskell been made to wait for his 43rd cap but, after sitting out the first two Tests, a chance has arisen following injury to inspirational captain Chris Robshaw.
Haskell will take Robshaw's number seven shirt in one of six changes to the side as England seek a consolation win after defeats in Durban and Johannesburg.
Another notable switch sees Danny Care restored at scrum-half in place of the injured Ben Youngs.
Care has not played since last August after missing the World Cup through injury and being dropped for the Six Nations due to non-rugby matters.
Lancaster feels it is now the right time to bring the 25-year-old back and hopes the team can play to his strengths.
He said: "One of Danny Care's strengths is playing a quick-tempo game.
"It is making sure we recognise when to play it and play it in the right areas of the field.
"We have to supplement that with our driving game and get the balance right."
Other changes see full-back Alex Goode and number eight Thomas Waldrom come in for their first Test starts.
Goode is accommodated by Ben Foden's switch back to the wing in place of David Strettle while Waldrom takes over from Ben Morgan.
Prop Alex Corbisiero, who established himself as first-choice loosehead in the Six Nations, returns after missing the end of the domestic season following a biceps operation and the start of the tour with a knee problem. Joe Marler drops to the bench.
Lock Tom Palmer comes in for Mouritz Botha while centre Brad Barritt, who needed stitches in his eyeball after the first Test, is back among the replacements. Hooker Dylan Hartley takes over as captain.
Lancaster said: "Just because I have made changes - and I have not been afraid to make them during the Six Nations or on this tour - I am not so fixed that someone can't come back and prove me wrong.
"For instance Ben Morgan not appearing in the 22 doesn't mean that is the end of his international career.
"For me he didn't play that well and he has got areas of his game to work on. He got some feedback, took it positively and he will fight back as he should.
"You can only really learn about players by working with them and watching them train, getting to understand their strengths and weaknesses.
"We are still learning about what players can offer and how to piece together the jigsaw."
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