Supercritical CO2 (scCO2) extrusion foamed high-melt-strength (HMS) polypropylene (PP) often suffers from low cell density, large cell sizes, and poor cell structure uniformity due to the poor nucleation rates of CO2 in the PP. To remedy this, various inorganic fillers have been used as heterogeneous nucleation agents. Although their efficient nucleation effects have been demonstrated, the preparation of these fillers causes some adverse effects on the environment/human health or involves relatively expensive processes or non-eco-friendly chemicals. In this work, biomass-based lignin is studied as a sustainable, lightweight, and cost-effective nucleating agent. It is found that scCO2 could assist in situ dispersion of lignin in the PP in the foaming process, leading to significantly increased cell density, smaller cells, and improved cell uniformity. The Expansion Ratio is also simultaneously improved due to reduced diffusive gas loss. The PP/lignin foams with low lignin loadings exhibit higher compression moduli and plateau strengths than the PP foams with the same densities owing to the improved cell uniformity and probably also the reinforcing effect of the small lignin particles in cell walls. Moreover, the energy absorption capability of the PP/lignin foam with 1 wt% lignin could match the PP foam with similar compression plateau strengths; even the density of the former is 28% lower than the latter. Therefore, this work provides a promising approach to a cleaner and more sustainable production of HMS PP foams.