The store on the former McCain Stadium site was opened at 8am by the Mayor of Scarborough Cllr Simon Green.
David Sutton and Andrew Burnett were the first to get into the store.
Mr Sutton said: "It's my daughter's birthday today so I wanted to get a birthday cake, to be honest, I thought it opened at 7am so that's why I was first here."
Mr Burnett added: "I want to get one of the deals for a microwave oven.
"I think it will be good for people living in the area to have the store open finally."
Lidl is offering customers the chance to sample some of its award-winning products throughout the day.
For the first week of trading customers will be able to enjoy 30% off selected fruit, vegetables, meat, poultry and white goods.
Store manager Andrew Pattinson said: "It's been a bit of a race to the finish line but it looks great and we're happy people can now come in and enjoy the store."