Chelsea left-back Cole, a regular fixture in the England side for over a decade, became just the seventh player to earn 100 caps for the Three Lions.
The 32-year-old endured one of his more testing outings during the 2-1 win thanks to the wizardry of club colleague Oscar, before being replaced at the interval by Leighton Baines due to a slight concern over his hamstring.
Cahill insists Cole deserves a huge amount of credit for the way he has made the left-back position his own since he made his debut against Albania some 12 years ago - and hopes he does not decide to call time on his international career.
"He is an inspiration," Cahill said. "I have been plugging away for years to get in to the squad and he has got 100 caps now.
"He has been at the top of his game for 12 years. It's fantastic for him and I hope there will be many more to come for him."
Rooney added: "Over the last 10 or 15 years he has a great servant for England. He is not one to speak a lot but he gets his head down and works hard.
"He rarely misses a game for England. I'm sure he's delighted and we're all really pleased for him."
And Lampard concluded: "Anyone who plays at that consistency level over 100 caps for his country, on top of what he does for his club...
"I know we have phases with fans in this country sometimes there are a lot of the club issues involved there.
"You saw 90,000 people there appreciated what a good pro he has been and how well he has played for England."
To find out more about live football on Sky Sports, Click here