Rational approximations to values of $E$-functions

We solve a long standing problem in the theory of Siegel's $E$-functions, initiated by Lang for Bessel's function $J_0$ in the 60's and considered in full generality by G. Chudnovsky in the 80's: we prove that irrational values taken at rational points by $E$-functions with rational Taylor coefficients have irrationality exponent equal to 2. This result had been obtained before by Zudilin under strong assumptions on algebraic independence of $E$-functions, satisfied by $J_0$ but not by all hypergeometric $E$-functions for instance. We remove them using a new generalization of Shidlovskii's lemma, analogous to zero estimates on commutative algebraic groups in which obstructions come from algebraic subgroups.