Simulating quantum dynamics is one of the most promising applications of quantum computers. While the upper bound of the simulation cost has been extensively studied through various quantum algorithms, much less work has focused on establishing the lower bound, particularly for the simulation of open quantum system dynamics. In this work, we present a general framework to calculate the lower bound for simulating a broad class of quantum Markov semigroups. Given a fixed accessible unitary set, we introduce the concept of convexified circuit depth to quantify the quantum simulation cost and analyze the necessary circuit depth to construct a quantum simulation scheme that achieves a specific order. Our framework can be applied to both unital and non-unital quantum dynamics, and the tightness of our lower bound technique is illustrated by showing that the upper and lower bounds coincide in several examples.