Martinez arrived at Goodison Park from Wigan Athletic in summer 2013 before guiding the Toffees to a fifth-placed finish in the Premier League table.
Baines has now credited the Spaniard with invigorating the squad following David Moyes's 11-year reign at the club.
"As a group I think everyone will have learnt a lot from the manager," the England international is quoted as saying by Goal.com.
"I have never worked under anyone like him. He is always introducing new things and he has so many ideas about how to play the game.
"Getting back in Europe is a step in the right direction and it's what we all wanted. It's what we probably deserve as well. We have played well enough to have earned that."
Baines is currently with the England squad in Portugal as part of a pre-World Cup training camp.