Lucker, who made her name on Footballers' Wives, played Max Branning love interest Vanessa Gold between June 2010 and October 2011.
In an interview with The Mirror, the actress explained: "I was only ever contracted for the Max and Tanya storyline for a few months.
"But by the time I'd left, I'd been there for 18 months, which was unexpected but brilliant at the same time.
"I haven't ruled out returning to the show. If the right storyline came up and the timing worked, I would definitely consider it."
However, Lucker insisted that her 4-year-old daughter Lilly is her priority, adding: "Any job I take has to fit with being a mum."
She admitted that her Waterloo Road filming commitments in Scotland has been "tough".
Lucker joined the BBC school drama as Liverpudlian mum Carol Barry in June last year. Her debut episode aired last week.
Waterloo Road continues tonight (Thursday) at 8pm on BBC One.