In December the US expelled 35 Russian diplomats and shut the compounds over suspicions of meddling in US elections.
Russian and US officials are due to discuss the issue later on Monday.
US Undersecretary of State Thomas Shannon is hosting Russian Deputy Foreign Minister Sergei Ryabkov in Washington.
The meeting was meant to have been held in June in St Petersburg, but was cancelled after the US government added 38 individuals and organisations to its list of sanctions over Russian activity in Ukraine.
Mr Peskov suggested that there was nothing to discuss.
“We consider it absolutely unacceptable to place conditions on the return of diplomatic property, we consider that it must be returned without any conditions and talking,” he said.
Mr Lavrov said that this was not the way decent and well-brought-up people behaved.
“How can you seize property which is protected by a bilateral, inter-governmental, ratified document and, to return it, act according to the principle ‘what is mine is mine, and what is yours we’ll share’?” he said during a visit to Belarus.