Suppose $f:[0,1] \to \mathbb{R}$ is absolutely continuous and $A \subset [0,1]$ is a set of measure zero. Let $\varepsilon>0$ be given. Since $f$ is absolutely continuous there exists a positive number $\delta$ so that
\begin{equation}
\overset{N}{\underset{i=1}\sum}|f(b_i)-f(a_i)| <\varepsilon
\, \, \, \text{whenever} \, \, \overset{N}{\underset{i=1}\sum}(b_i-a_i)<\delta,
\end{equation}
and the intervals $(a_i, b_i)$, $i=1, 2, \ldots, N$ are disjoint. Now fix a compact subset $K$ of $A$. Since $\lambda$ is outer regular there exists an open set $U$ such that $\lambda(U) \leq \lambda(K) + \delta/2$. Since $U$ is open it can be expressed as the countable union of disjoint intervals. Thus a finite subcollection of these intervals $\{(a_i, b_i)\}_{i=1}^N$ covers $K$,
\begin{equation}
\overset{N}{\underset{i=1}\bigcup}(a_i, b_i) \supset K .
\end{equation}
Combining the above, notice that we have
\begin{equation}
\lambda \Big(\overset{N}{\underset{i=1}\bigcup}(a_i, b_i) \Big) = \overset{N}{\underset{i=1}\sum}(b_i-a_i)<\delta .
\end{equation}
Thus
\begin{equation}
\lambda \Big(f\Big( \overset{N}{\underset{i=1}\bigcup}(a_i, b_i) \Big) \Big) \leq \overset{N}{\underset{i=1}\sum}|f(b_i)-f(a_i)|<\varepsilon ,
\end{equation}
and so by monotonicity of $\lambda$ we have that $\lambda(f(K))< \varepsilon$. Observe that any compact set $K'$ contained in $f(A)$ will be the image under $f$ of some compact set $K \subset A$, $\, K'=f(K)$. Therefore we combine to conclude that $\lambda(f(A))=0$.