The Saints squad toured the streets in an open-top bus following their 3-2 win over Hearts on Sunday and thanked fans for their support in a town-centre rally.
Lennon told STV: "It was absolutely fantastic and they are the type of moments that live long in your memory for the rest of your life.
"It was wonderful turning up to Hampden and the kit men had put out all the homemade cards from the schoolkids and plastered them throughout the dressing room for the players coming in.
"It was a lovely moment, a moment that told us we were not just there for ourselves but there for the community of Paisley. We are delighted for the people of Paisley that they are going to work sometime this week with a spring in their steps, and long may that continue."
Lennon revealed there were some surprisingly energetic performances at the post-match party.
"The party went on into the early hours of the morning and I'm led to believe it's still going on," he said. "Stevie Thompson, I think he had it well planned. With 15 minutes to go, he pulled up with cramp. He showed no sign of that once the music had started, he was never off that dancefloor.
"It was a pleasure to see the chairman (Stewart Gilmour) and the vice-chairman George (Campbell) throwing some shapes, and I must give a special mention to our chief executive, Brian Caldwell, who put everything in place to allow us to prepare and just get the game over and win it."
While Saints players and fans continue to celebrate, Lennon has already turned his thoughts to renewing contracts for next season and building on their first major honour for 26 years.
"We are very well into negotiations with Paul McGowan so hopefully something can be sorted on that one and I have already spoken to the other players, Gary Teale and Craig Samson," he said.
"We will sit down in the next few days and there will be offers to put out to those also.
"Like everyone else, we have many players coming out of contract and decisions have got to be made but there is a lot of football to be played also."