Paul McGowen's penalty cancelled out Liam Kelly's opener and ensured Saints, with an eight-point haul from four matches, moved 13 points ahead of Dundee at the foot of the Scottish Premier League.
"I thought it was a terrific game," Lennon said. "I love playing against Kilmarnock because we both love to get the ball down and play.
"It's a wee bit of a boxing match, you have the ball and then we'll have it.
"Our workrate has been key in this wee turning point for us - we were putting Cammy Bell under pressure but we hit a boy on top form."