Wicket-keeper Boucher had been due to feature during the three-match contest on English soil. However, an eye injury sustained during a warm-up encounter forced him to retire from all forms of the game.
Having won the series 2-0 and taken top spot in the rankings as a result, all-rounder Kallis has revealed that the squad were inspired to emerge victorious for Boucher.
"It's never easy to come to England and win, and to do it at the home of cricket was magnificent," he told BBC Sport. "We really wanted to do it for Mark Boucher, he's been with us in spirit if not in person.
"I've been in touch with him, it looks like he's starting to see things out of his eye so that's good."
Next up for South Africa is a tour of Australia in November.