Method and apparatus are disclosed for camera assisted vehicle lamp diagnosis via vehicle-to-vehicle communication. An example vehicle includes a forward-facing camera and a processor. The processor classifies a target vehicle based on images captured by the camera. Based on the classification, the processor determines locations of lamps on the target vehicle and determines when one of the lamps is not functioning properly. Additionally, when one of the lamps is not functioning properly, the processor sends, via a first communication module, a message to the target vehicle indicating of one of the lamps not functioning properly.