Goals from James Collins and Jovon Makama sealed a good win in the Imps' opening game of pre-season.
Saturday's match was played behind-closed-doors at Hull City's East Yorkshire training ground, with Michael Skubala rotating his side to ensure every player featured for 45 minutes.
The Imps started brightly, with Collins seeing a fifth-minute effort blocked by Ivor Pandur and a 13th-minute shot deflected wide even before he opened the scoring.
He rose highest at the near post to flick home Erik Ring's corner - with it taking just 15 minutes of the first match of the summer for the Lincolnshire side to score from a set-piece.
Jovon Makama saw a couple of efforts deflected behind before he drove home a smart counter-attack in the closing stages of the match.
