The active sentence is: "The teacher (Subject) explained (Verb: Simple Past) the lesson (Object)."
To convert to passive voice, the object becomes the subject: "The lesson".
The verb tense (Simple Past) changes to the passive structure: was/were + past participle.
"The lesson was explained".
The original subject becomes the agent: "by the teacher".
The correct passive sentence is: "The lesson was explained by the teacher."