Celtic will face the Turin side in February after finishing second in their group behind Champions League favourites Barcelona.
Meanwhile, Juventus finished top of Group E, which also included Chelsea, and they beat the English side 3-0 in November.
Lennon told Sky Sports News: "In terms of glamour it's a beauty. Juventus are one of the great traditional European teams. In terms of qualification it's going to be very, very tough. They're current Italian champions and finished their group very strongly.
"We will take it as it comes, we're looking forward to the games now and I'm sure our supporters will be as well. We believe over two games that anything is possible. Juventus' team are littered with world class stars and they've been very consistent over the last 18 months and they've got a great winning mentality - but so have we."
Celtic have a fantastic home record in the Champions League, having only lost two of 23 matches at Parkhead - both to Barcelona, who they defeated 2-1 at home this year.
Lennon is looking forward to welcoming the Italian champions to Glasgow, saying: "Juventus is just another huge game for us to enjoy and relish and anything can happen over the two games. We're in the competition, we want to go as far as we can and we believe we can do it.
"Celtic Park's a very special arena on a European night and I'm sure they'll raise the roof again to bring Juventus to Glasgow. In terms of the draw, it could have been kinder but it could have been worse."
The first leg at Celtic Park will be played on 12 February, with the return match in Turin on 6 March.