As @gung says in the comment, your question title and text conflict. The F-test for joint significance of all parameters in a model is on a single model fit; it is displayed each time you do summary().
Comparisons of models is a whole different ball game -- as the models need to be nested for inference to be valid.
The lmtest adds a number of common econometrics tests for linear models. As an illustration, here is the beginning of examples(lrtest) for using a likelihood-ratio test to compare two nested models:
R> ## with data from Greene (1993):
R> data("USDistLag")
R> usdl <- na.contiguous(cbind(USDistLag, lag(USDistLag, k = -1)))
R> colnames(usdl) <- c("con", "gnp", "con1", "gnp1")
R> fm1 <- lm(con ~ gnp + gnp1, data = usdl)
R> fm2 <- lm(con ~ gnp + con1 + gnp1, data = usdl)
R> lrtest(fm2, fm1)
Likelihood ratio test
Model 1: con ~ gnp + con1 + gnp1
Model 2: con ~ gnp + gnp1
#Df LogLik Df Chisq Pr(>Chisq)
1 5 -56.07
2 4 -65.87 -1 19.61 9.52e-06 ***
---
Signif. codes: 0 ‘***’ 0.001 ‘**’ 0.01 ‘*’ 0.05 ‘.’ 0.1 ‘ ’ 1
R>