Williams was expected to win the title at SW19 for a sixth time this year, but her German opponent caused an upset by recording a 6-2 1-6 6-4 success on Centre Court.
"I am still shaking, I am so happy. Serena played a fantastic match, she is such a tough opponent. It is an amazing feeling to win this match," Lisicki told BBC Sport.
"This is such a special place for me and the crowd were brilliant to me. I gave it everything I had, I fought for every single point to try to win it somehow. I'm not thinking about the next match yet."
Lisicki achieved her best run at Wimbledon two years ago when she reached the semi-finals.