I've always pruned my lavender once it'd finished flowering and the flowering stems started to dry out. That would have been a while ago now ..... maybe 6 weeks ago.
Chop these off, plus a little below, but don't cut into "old" wood, as lavender doesn't produce new shoots from dead wood. If you cut into the green bits, this should encourage it to bush out and keep looking neat and tidy.
IME, if you leave lavender alone it soon looks terribly straggly, with loads of dead wood and a few green bits on the end.