The Hoops fell two goals behind at Fir Park Stadium earlier today, before drawing level just short of the hour mark.
"I'm annoyed we didn't win it. We should have," Lennon told the club's official website following the game. "In the second half we were totally dominant, played some really good football, score really good goals and counter-attacked well.
"We should have finished Motherwell off. The first half was sloppy, and sloppy defensively. You can't give teams a two-goal start.
"At 3-2 we should see it out but a lapse in concentration has cost us. But overall, I'm pleased with the character of the team. We are scoring goals but I was disappointed to concede three, it's not like us."
Celtic are back in action next weekend when they face Inverness Caledonian Thistle.