Drawing on experimental data for baryon resonances, Hamiltonian effective field theory (HEFT) is used to predict the positions of the finite-volume energy levels to be observed in lattice QCD simulations. We have studied the low-lying baryons $N^*(1535)$, $N^*(1440)$, and $\Lambda(1405)$. In the initial analysis, the phenomenological parameters of the Hamiltonian model are constrained by experiment and the finite-volume eigenstate energies are a prediction of the model. The agreement between HEFT predictions and lattice QCD results obtained at finite volume is excellent. These lattice results also admit a more conventional analysis where the low-energy coefficients are constrained by lattice QCD results, enabling a determination of resonance properties from lattice QCD itself. The role and importance of various components of the Hamiltonian model are examined in the finite volume. The analysis of the lattice QCD data can help us to undertand the structure of these states better.