England failed to win a single game in Group D, losing 2-1 to Italy and Uruguay and drawing with Costa Rica, but Everton manager Martinez enjoyed the way the squad approached the tournament, with youngsters Ross Barkley, Luke Shaw and Raheem Sterling all turning out for Roy Hodgson's side.
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"I was very impressed with the manner that England approached the competition,” he told Fifa.com.
"Looking back at other tournaments, it was the case of trying to progress and go through.
"This time around, it has been a clear approach of: let's try to be ourselves, let's try to find solutions and learn from the experience for the future and if we progress in this tournament, great, if not we'll get the benefits.
"There is a real legacy growing in this new England set-up. I love the eye-to-eye mentality and having a really brave outlook about their performances."
Martinez also believes the squad should be allowed time to gel, as “following the methods of Belgium or even Spain takes time.”
"The defeat against Uruguay was marginal, he added. “The game against Italy was very small margins as well, not to get the victory.
"Overall, it's a positive approach and I think there is an understanding from the English public that there needs to be a bit of patience and a structured path to be successful, not just to be good in big tournaments, but to try to win a big tournament.
"To get there following the methods of Belgium or even Spain takes time.
"There has been a step towards achieving that with how England allow youngsters to have a major say and develop a clear way of playing that is going to be very beneficial for the future."