This claim is a simple case of the critic of the Bible simply not reading the passage closely enough. Jeremiah 7:22 says that God gave no instructions to Israel concerning sacrifices "in the day that I brought them out of the land of Egypt..." And this is very true. If one reads the Exodus account of Israel's departure from Egypt and subsequent wanderings in the desert, one sees that God did not give any instructions to the nation concerning worship sacrifices until a good deal of time AFTER Israel had left Egypt. In fact, the first time which God iterates to Israel any instruction for sacrifice (Exodus 20:24), was after the handing down of the Ten Commandments on Mount Sinai, an event which occurred in the "third month" (Exodus 19:1) after the exodus from Egypt.
Hence, there is no contradiction presented between Jeremiah 7:21-22 and various other portions of Scripture.