Animal cells do not have cell walls. Therefore, when newly made animal viruses are produced in the animal cell, they excise themselves from the cell without lysing the cell in the process (as would occur had they undergone the lytic cycle). The lytic cycle is not beneficial for the virus. It would much rather keep the host cell alive such that its progeny can continue to use it to produce more viruses. To do this, they need an envelope (an envelope contains all of the components that a plasma membrane would have). This allows a virus that already have a coat to enter an animal host cell via endocytosis or newly made viruses to leave the host cell via exocytosis, without lysing the cell.
Bacteriophages and plant viruses don't have or develop envelopes because bacteria and plants have cell walls (a distinguishing characteristic between them and animal cells; e.g., think gram-negative and gram-positive bacteria). An envelope would be of no use in this regard. The cell wall of a bacteria is made of a peptidoglycan polymer. Having a lipid based envelope will not help the virus leave the cell via exocytosis.
Therefore, bacteriophages and plant viruses have to infect their host by penetrating the cell and releasing their genome along with any other components required for its replication in order to reproduce.
TL;DR: An envelope would not be of any use to them given that plants and bacteria have cell walls, while animal cells do not.