Here's what we know:
* He is not imprisoned at Azkaban: Despite his involvement in Voldemort's army, Lucius is never seen in Azkaban. This suggests he either escaped or was never convicted.
* His family is safe: Narcissa and Draco are shown to be safe at the end of the war.
* He lost his status and wealth: The Malfoys were stripped of their power and wealth. This is partly due to the loss of Voldemort's support and also because Lucius's actions against the wizarding community made him lose his standing.
* He has a new perspective: Lucius is shown to be horrified at the death of his son, Draco, and his wife's deception to protect him. It is implied that he might have changed his views on Voldemort and his cause.
However, the book doesn't explicitly state Lucius's fate. It's possible he was imprisoned or faced other consequences for his actions, but his future remains open to interpretation.
It's likely Lucius spent the rest of his days trying to rebuild his life and family, possibly facing social isolation and ostracization.