CUSP is an Eclipse plugin that should work with the standard Lisp IDE interface (known as SWANK).

Unfortunately, it appears to be sadly out of maintenance.

The initial release was from bitfauna, then it was forked by Sergey Kolos, then he forked it again to create the Lispdev project, which again appears to be untouched.

Bug reports indicate that Kolos Cusp does not work with Windows 7 64-bit.