Here is the python example of calling another lambda function and gets its response. There is two invocation type 'RequestResponse' and 'Event'. Use 'RequestResponse' if you want to get the response of lambda function and use 'Event' to invoke lambda function asynchronously. So both ways asynchronous and synchronous are available.
lambda_response = lambda_client.invoke(
FunctionName = lambda_name,
InvocationType = 'RequestResponse',
Payload = json.dumps(input)
)
resp_str = lambda_response['Payload'].read()
response = json.loads(resp_str)