First we show that if $A$ has measure zero, then $\lambda A$ has measure zero.
Let $A \subset \mathbb{R}$ have measure zero. Let $\epsilon > 0$ be given. Then there exists a countable collection of intervals $\{(a_i, b_i)\}_{i = 1}^{n}$ such that $A \subset \bigcup_{i = 1}^{\infty}(a_i, b_i)$ and $\sum_{i = 1}^{\infty}(b_i - a_i) < \frac{\epsilon}{|\lambda|}$. Let $a \in A$. Then $a \in (a_i, b_i)$ for some $i \in \mathbb{N}$. Now consider 2 cases:
Case 1 ($\lambda < 0$): If $\lambda < 0$ then $a \in (\lambda b_i, \lambda a_i)$. Thus $\lambda A \subset \bigcup_{i = 1}^{\infty}(\lambda b_i, \lambda a_i)$. We see
$$\sum_{i = 1}^{\infty}\lambda a_i - \lambda b_i = -\lambda \sum_{i = 1}^{n}\left(b_i - a_i\right) < \epsilon.$$
Case 2 ($\lambda > 0$): If $\lambda > 0$ then $a \in (\lambda a_i, \lambda b_i)$. Thus $\lambda A \subset \bigcup_{i = 1}^{\infty}(\lambda a_i, \lambda b_i)$. We see
$$\sum_{i = 1}^{\infty}\lambda b_i - \lambda a_i = \lambda \sum_{i = 1}^{n}\left(b_i - a_i\right) < \epsilon.$$
Let $m^{\ast}$ denote the Lebesgue outer-measure on $\mathbb{R}$. We see
$$ m^{\ast}(\lambda A) = \inf\left\{\sum_{i = 1}^{\infty} b_i - a_i : A \subset \bigcup_{i = 1}^{\infty}(a_i, b_i)\right\} < \epsilon.$$
Thus $m^{\ast}(\lambda A) = 0$. Since Lebesgue measure is complete, $\lambda A$ is Lebesgue measurable.
Let $E \subset \mathbb{R}$ be Lebesgue measurable. There is a Borel set $G$ such that $E \subset G$ and $G \backslash E$ has measure zero. Define $g: \mathbb{R} \to \mathbb{R}$ by $g(x) = \frac{1}{\lambda}x$. Clearly $g$ is continuous. Since continuous functions are Borel measurable, $\lambda G = g^{-1}(G)$ is measurable. Since $G \backslash E$ has measure zero, $\lambda G\backslash E$ is Lebesgue measurable by the argument above. Thus $\lambda E = \lambda G \backslash (\lambda G \backslash E)$ is Lebesgue measurable.