The quantization of systems composed of transmission lines connected to lumped circuits poses significant challenges, arising from the interaction between continuous and discrete degrees of freedom. A widely adopted strategy, based on the pioneering work of Yurke and Denker, entails representing the lumped circuit contributions using Lagrangian densities that incorporate Dirac δ-functions. However, this approach introduces complications, as highlighted in the recent literature, including divergent momentum densities, necessitating the use of regularization techniques. In this work, we introduce a δ-free Lagrangian formulation for a transmission line capacitively coupled to a lumped circuit without the need for a discretization of the transmission line or mode expansions. This is achieved by explicitly enforcing boundary conditions at the line ends in the principle of least action. In this framework, the quantization and the derivation of the Heisenberg equations of the network are straightforward. We obtain a reduced model for the lumped circuit in the quantum Langevin form, which is valid for any coupling strength between the line and the lumped circuit. We apply our approach to an analytically solvable network consisting of a semi-infinite transmission line capacitively coupled to an LC circuit and study the behavior of the network as the coupling strength varies.