"It was not as easy as it looked, that game. They just sat back," Lampard said. "We've found ourselves as a group. We always knew we had the individuals but were not working as a team. You can see the results on the pitch."
A victory over Croatia in the next qualifier in September could be enough to ensure England will reach next year's tournament in South Africa.
"We were very strong," manager Fabio Capello said. "When you play against teams that aren't strong, you have to win the ball, and we did this." Despite only playing the first half, Rooney finished the international season with 10 goals - the highest season total for an England player since Gary Lineker in 1990-91.
Though Andorra is by far the weakest side in the group, England's victory still represented an improvement as it had been held 0-0 by the minnows from the Pyrenees at halftime in their previous two encounters.
This time, there would be no such difficulty breaking down the Andorrans, who are yet to earn a point in qualifying.
Rooney had already had a shot tipped over by keeper Koldo Alvarez and hit the crossbar with a header after Theo Walcott's effort was parried before the Manchester United player opened the scoring in the fourth minute.
Rooney timed his run well to meet Glen Johnson's deep ball with a header that beat Alvarez.
With England in total control, the ball rarely entered its half.
Crouch could have provided the second in the 10th minute, but his head made a poor connection with a precision cross from David Beckham, who completed the full match on his first competitive start in two years. It extended the country's appearance record for an outfield player to 112.
Alvarez, the standout visiting player, turned round Steven Gerrard's shot before England's relentless waves of attacks produced a second goal in the 29th minute.
Johnson released Walcott down the right flank and the Arsenal winger cut the ball back for the unmarked Lampard to strike low for his third goal in his last four games for club and country.
After Sergi Moreno produced Andorra's one and only shot of the night, Johnson whipped in a superb cross that Rooney diverted past Alvarez in the 39th minute.
But Rooney wouldn't get a chance to end his season with a hat trick, making way for Defoe at halftime.
The fourth goal did not arrive until the 73rd minute. Beckham, who had a low free kick saved just before the break, initiated the move, sending a corner to Johnson on the edge of the penalty area, with the Portsmouth defender's cross being headed in by Defoe.
Defoe was on the scoresheet again three minutes later when Beckham's free kick was parried by Alvarez and the Tottenham striker was perfectly placed to pounce.
The 57,897 crowd, the lowest for England since the rebuilt Wembley reopened in 2007 due to a strike by subway workers, was rewarded with a sixth in the 80th minute when Crouch bundled the ball over the line.
Andorra: Koldo Alvarez (Josep Antoni Gomes, 89), Josep Manel Ayala, Txema Garcia, Oscar Sonejee, Antonio Lima (Marc Vales, 47), Ildefons Lima, Sergi Moreno, Marcio Viera, Fernando Silva (Julia Fernandez, 79), Manel Jimenez, Xavier Andorra.