We want the Newtonian limit of the Einstein Field equations for nonzero vacuum energy(=cosmological constant). As $\rho_\mathrm{vac}=\Lambda/4\pi G$ is a mass(=energy) density, Poisson equation is
$$
\Delta\Phi=4\pi G\rho(\boldsymbol r)-\Lambda \tag{1}
$$
If we assume spherical symmetry, and point-like source $\rho\sim\delta(\boldsymbol r)$, the grativational potential that solves $(1)$ is
$$
\Phi(r)=-\frac{GM}{r}-\frac{1}{6}\Lambda r^2\tag{2}
$$
so that the gravitational acceleration is given by
$$
g=-\partial_r\Phi=-\frac{GM}{r^2}+\frac{1}{3}\Lambda r\tag{3}
$$