I am adding an answer to get this question off the 'unanswered' list.
Notation: Let $\mathcal{L}$ and $\mathcal{B}_{\mathbb{R}}$ be the set of Lebesgue measurable sets and Borel measurable sets, respectively.
The answer to your question is 'no'. Take a Lebesgue measurable set $E$ that is not Borel measurable (such sets exist: see here). Consider the characteristic function $\chi_{E}: \mathbb{R}\to\mathbb{R}$ defined by
$$
\chi_{E} = \begin{cases}
1 & \textrm{ if } x\in E \\
0 & \textrm{ if } x\notin E
\end{cases}
$$
Then $\chi_{E}$ is $(\mathcal{L}, \mathcal{B}_{\mathbb{R}})$-measurable (i.e. Lebesgue measurable) because it is characteristic function of a measurable set.
But $\chi_{E}$ is not $(\mathcal{B}_{\mathbb{R}}, \mathcal{B}_{\mathbb{R}})$-measurable (i.e. Borel measurable). For example, $$\chi_{E}^{-1}\left(\frac{1}{2}, \frac{3}{2}\right)=E\notin\mathcal{B}_{R}$$
Remark. I am using notation consistent with Folland's Real Analysis: Modern Techniques and Their Applications.