Quite a number of edits of Lexx have appeared during different broadcasts and DVD releases.
The most common edit being a scene in which Stanley chats to a semi-naked, showering Zev. This scene features a montage that includes a couple of short flashes of boobs and bum. Many broadcast versions have edited this scene out altogether. The version on the Region 4 DVD preserves the scene and dialogue, but has edited the montage to remove the nudity by changing the framing of one shot slightly and including slightly different shots of the semi-naked Zev.
The Region 2 German release (which features only a German language track) was heavily edited for violence as well as racy bits. Thankfully the version we have isn't butchered in this way.