An outstanding performance from Scott Brown and a series of Kris Commons chances failed to give the Old Firm club a lead at home.
Lennon is confident that Celtic can grow from their opening game performance and forget their 2-1 away defeat to St Johnstone in their last SPL outing, but admits playing away from home will be a tough proposition.
"I am pleased," he told Sky Sports. "It was a tough game against a quality side. I thought we coped more than admirably.
"We had more of a cutting edge before half-time, but it improves as we go on. It's going to be difficult away, the away leg is always a different beast."
Lennon is confident Celtic can compete for a place in the next round of this season's Champions League, despite being drawn in the same group as Spanish giants Barcelona.
He added: "Qualifying will be very difficult from this group, but it's always hard in Champions League football."
|THAT GOALSCORING TOUCH|
|11/1||Celtic are 11/1 with William Hill to beat Dundee 3-1 on the weekend|
"I thought we played really well, we battled well and played good football as well," he stated. "Overall, I think we were the better team."
Victor Wanyama, who joined the Scottish club in 2011, also admitted he was happy with the draw against Benfica. The Kenya international said he enjoyed his first outing in the Champions League.
"It was a very good game, it was a good experience for me in my first Champions League game, I enjoyed it," he stated.
"We need to keep on doing the same, I think if we keep doing the same we can do quite well [this season]."