We present a novel continuous dynamical decoupling scheme for the construction of a robust qubit in a three-level system. By means of a clock transition adjustment, we first show how robustness to environmental noise is achieved, while eliminating drive-noise, to first-order. We demonstrate this scheme with the spin sub-levels of the NV-centre's electronic ground state. By applying drive fields with moderate Rabi frequencies, the drive noise is eliminated and an improvement of 2 orders of magnitude in the coherence time is obtained compared to the pure dephasing time. We then show how the clock transition adjustment can be tuned to eliminate also the second-order effect of the environmental noise with moderate drive fields. A further detailed theoretical investigation suggests an additional improvement of more than 1 order of magnitude in the coherence time which is supported by simulations. Hence, our scheme predicts that the coherence time may be prolonged towards the lifetime-limit using a relatively simple experimental setup.