Lepida was the second born daughter and was among the children born of Aemilia Lepida and Marcus Junius Silanus Torquatus, a member of the Junii Silani, a family of Ancient Rome. Her maternal grandparents were Julia the Younger (granddaughter of the emperor Augustus) and Lucius Aemilius Paullus (a consul). Through her maternal grandparents she was a descendant of the Roman emperor Augustus, the noblewoman Scribonia, the statesman Marcus Vipsanius Agrippa and the consul Lucius Aemilius Lepidus Paullus (brother of the triumvir Marcus Aemilius Lepidus).