- PlayStation 2
- United States - October 21, 2003
- Japan - November 27, 2003
- Europe - February 13, 2004
- Australia - February 20, 2004
- PlayStation Network
- Japan - August 22, 2012
- United States - June 18, 2013
The Lament of Innocence title was not used in Japan or Europe.
The game featured a new Castlevania logo, based off the previous font used on Harmony of Dissonance and Aria of Sorrow. The most notable changes on the logo are the letters C and T, as well as the dot on the letter I.
A limited edition version was released simultaneously in Japan containing artwork, a calendar, and the game's soundtrack.