The International Football Federation's former anti-corruption adviser Mark Pieth is standing together with the Swiss Stefan Wehrenberg and the Brit Rodney Dixon behind the complaint submitted to Fifa's own web portal.
They claim that the offer to give Fifa advice on human rights was ignored prior to the election of the host, where Saudi Arabia was the sole candidate.
"As highlighted in the complaint, widespread violations of human rights continue to be committed in Saudi Arabia and no measures are taken to address these in the run-up to the World Championship", the lawyers point out in a 30-page document.
"Instead, it seems like it's 'business as usual' without any changes needing to be made."
Fifa has, under the leadership of President Gianni Infantino, tied the organization closer to Saudi Arabia.
"Saudi Arabia has been chosen as the next host country despite its frightening human rights status, including violations related to freedom of expression, arbitrary arrests, deprivation of liberty and mistreatment, migrant workers' rights and women's rights", the lawyers argue.
They urge Fifa to push harder for "meaningful reforms in Saudi Arabia, driven by the implementation of Fifa's obligations according to its own policy".
