Lawless and other demonstrators were arrested in New Zealand in February when they refused to end an illegal sit-in aboard a Shell oil ship.
The protestors oppose oil drilling in the Arctic due to fears that the natural ecosystem could be damaged.
Lawless and her seven co-defendants appeared in court this week to have their charges reduced from burglary to trespassing, with their attorneys also asking for no conviction ruling yet.
All eight demonstrators will return to court on September 14 for sentencing, reports APNZ.
Lawless told reporters following the court proceeding that her protest was entirely justified in order to protect the animal population from the effects of drilling.
"I think we've helped kick off a great movement," the actress insisted.
She also said: "We want to tell [those responsible for deep sea oil drilling] absolutely under no circumstances is this a good idea. They are robbing our children of their birthright to a clean and healthy planet and they know it."
Lawless has been a public advocate for environmental causes for many years and currently serves as a climate ambassador for Greenpeace.
She is perhaps best known for her starring role in Xena and has also portrayed Cylon Number Three in Battlestar Galactica and Lucretia in Sparticus.
Watch footage of Lucy Lawless's Shell protest from New Zealand TV below: