The store at the Merry Hill Shopping Centre was opened on Thursday by local school pupils and Councillor Anne Millward, the Mayor of Dudley.
The new store, located in the Upper Retail Area opposite Homesense, will create more than 40 new jobs.
The 1,209 sq m supermarket has an in-store bakery, customer toilets and car park with 163 spaces and is open 8am to 10pm from Monday to Saturday and 10am to 4pm on Sundays.
Iain Ross, head of property at Lidl GB said: "We are thrilled to have opened our doors for the first time today and deliver our much-loved produce to the local area.
"The new store is a fantastic addition to the local community and it has been a great first day.
"We look forward to welcoming even more people through our doors over the coming weeks."
Other recent outlets to open at Merry Hill include German bratwurst fast-food brand Extrawurst, which was officially opened this week having opened to customers in December.
Jonathan Poole, centre manager at Merry Hill said: "Merry Hill shoppers can now benefit from even more variety when it comes to meeting all their retail needs in one place.
"The new store bolsters our supermarket and grocery offering and joins a host of other major brands, including Asda, Iceland and M&S."