The Welsh full-back kicked 21 points in the third Test victory over Australia on Saturday and was voted man of the series shortly after the end of the match.
"I can't put it into words really how much it means. It's everything I've dreamed of as a kid growing up watching Lions tours," Halfpenny said.
"To be part of a winning Lions tour is one of the best things ever and up there with the best moments of my career."
Halfpenny scored a total of 49 points in the three-match series.