By using the exact Bethe wavefunctions of the one-dimensional Hubbard model with N spin-up fermions and one spin-down impurity, we derive an analytic expression of the impurity form factor, in the form of a determinant of a \((N+1)\) by \((N+1)\) matrix. This analytic expression enables us to exactly calculate spectral properties of one-dimensional Fermi polarons in lattices, when the masses of the impurity particle and the Fermi bath are equal. We present the impurity spectral function as functions of the on-site interaction strength and the filling factor of the Fermi bath, and discuss the origin of Fermi singularities in the spectral function at small momentum and the emergence of polaron quasiparticles at large momentum near the boundary of Brillouin zone. Our analytic expression of the impurity form factors pave the way to exploring the intriguing dynamics of a particle interacting with a Fermi bath. Our exact predictions on the impurity spectral function could be directly examined in cold-atom laboratories by using the radio-frequency spectroscopy and Ramsey spectroscopy.