EDIT: Here's a complete proof, due to Hugh Woodin.
Let $j : V_\lambda \to V_\lambda$ be an elementary embedding. To show that $j$ is $\Sigma^1_0$, it suffices to show that $j : (V_\lambda, A) \to (V_\lambda, j(A))$ is elementary for any $A\subseteq V_\lambda$. Towards this, we show that for arbitrary $A\subseteq V_\lambda$, $j : (V_\lambda, A) \to (V_\lambda, j(A))$ is $\Sigma_0$ and hence, being cofinal, $\Sigma_1$. Once we know $j:(V_\lambda, A) \to (V_\lambda, j(A))$ is $\Sigma_n$, the fact that $j: (V_\lambda, A,B) \to (V_\lambda, j(A),j(B))$ is $\Sigma_n$ where $B$ codes (an enhanced version of) the $\Sigma_n$ truth predicate of $(V_\lambda, A)$ will imply $j : (V_\lambda, A) \to (V_\lambda, j(A))$ is $\Sigma_{n+1}$. Here are the details:
Claim 1: For any $A\subseteq V_\lambda$, $j:(V_\lambda, A) \to (V_\lambda, j(A))$ is $\Sigma_1$.
Proof: By induction on formula complexity, $(V_\kappa,X\cap V_\kappa)\prec_0(V_\lambda,X)$ for any $\kappa < \lambda$ and $X\subseteq V_\lambda$ so that for any $x\in V_\lambda$ and any $\Sigma_0$ formula $\varphi$ in the language of set theory with a predicate, $(V_\lambda,A)\vDash \varphi(x)$ if and only if $(V_\kappa,A\cap V_\kappa)\vDash \varphi(x)$ if and only if $ (V_{j(\kappa)},j(A\cap V_{\kappa}))\vDash \varphi(j(x))$ if and only if $(V_\lambda,j(A))\vDash \varphi(j(x))$ (where $\kappa = \text{rk}(x)$). Now since $j$ is $\Sigma_0$ and cofinal, $j$ is $\Sigma_1$: $\Sigma_1$ always goes up, and given a $\Sigma_0$ formula $\varphi(x,y)$, if $(V_\lambda, j(A))\vDash \exists y\ \varphi(j(x),y)$, then for some $\kappa< \lambda$, $(V_\lambda, j(A))\vDash \exists y\in j(V_\kappa)\ \varphi(j(x),y)$ so $(V_\lambda, A)\vDash \exists y\in V_\kappa\ \varphi(x,y)$ since $j$ is $\Sigma_0$.
Claim 2: For any $A\subseteq V_\lambda$ and any $n < \omega$, $j:(V_\lambda, A) \to (V_\lambda, j(A))$ is $\Sigma_n$.
Proof: Proceeding by induction on $n\geq 1$, suppose that for any $X\subseteq V_\lambda$, $j : (V_\lambda, X) \to (V_\lambda, j(X))$ is $\Sigma_n$. Fix $A\subseteq V_\lambda$, and we will show $j:(V_\lambda, A) \to (V_\lambda, j(A))$ is $\Sigma_{n+1}$. Let $F = \langle \kappa_k : k <\omega\rangle$ be the critical sequence, and let $$B = \{(\ulcorner \exists y\ \psi(x,y)\urcorner,k) : \psi\in \Pi_{n-1}\wedge (V_\lambda, A)\vDash\exists y\in V_{\kappa_k}\ \psi(x,y)\}$$
The set $B$ is an enhanced version of the theory of $(V_\lambda,A)$, and the purpose of this enhancement is to ensure that the fact that $B$ is the theory of $(V_\lambda,A)$ is a $\Pi_n$ scheme, so that $j(B)$ is (an enhanced version of) the theory of $(V_\lambda,j(A))$ by the induction hypothesis. Fix a $\Sigma_n$ formula $\varphi(x)$ and a $\Pi_{n-1}$ formula $\psi(x,y)$ such that $\varphi(x) = \exists y\ \psi(x,y)$. First, $$(V_\lambda, A, F, B)\vDash \forall x\ (\varphi(x)\to \exists k< \omega\ (\ulcorner\varphi(x)\urcorner,k)\in B)$$ and second,
$$(V_\lambda, A, F, B)\vDash \forall x\ \forall k\ \left((\ulcorner\exists y\ \psi(x,y)\urcorner,k)\in B\to \forall \alpha\ (F(k) = \alpha\to \exists y\in V_\alpha\ \psi(x,y))\right)$$
Both statements are $\Pi_n$, and hence $(V_\lambda,j(A),j(F),j(B))$ satisfies the corresponding statements after applying $j$, which guarantees that $$j(B) = \{(\ulcorner \exists y\ \psi(x,y)\urcorner,k) : \psi\in \Pi_{n-1}\wedge (V_\lambda, j(A))\vDash\exists y\in V_{\kappa_{k+1}}\ \psi(x,y)\}$$
It follows now that $j : (V_\lambda,A)\to (V_\lambda,j(A))$ is $\Sigma_{n+1}$: If $\varphi(x,y)$ is $\Sigma_n$, then $(V_\lambda,A)\vDash \forall y\ \varphi(x,y)$ if and only if $(V_\lambda,A,B)\vDash \forall y\ \exists k < \omega\ (\ulcorner\varphi(x,y)\urcorner,k)\in B$ if and only if $(V_\lambda,j(A),j(B))\vDash \forall y\ \exists k < \omega\ (\ulcorner\varphi(j(x),y)\urcorner,k)\in j(B)$ since $j : (V_\lambda,A,B)\to (V_\lambda,j(A),j(B))$ is $\Sigma_1$, and this is equivalent to $(V_\lambda,j(A))\vDash \forall y\ \varphi(j(x),y)$ by our calculation of $j(B)$.