Lennon, 49, who amassed 40 international caps playing for Northern Ireland for eight years, parted company with Scottish Premier League giants, Celtic at the end of February.
The precise origin of the video has not yet been confirmed but it is believed the incident was recorded in a part of England on Tuesday afternoon.
The video shows Neil Lennon standing with two other men - it is not clear if the men are friends of Mr. Lennon's or if they have just offered to organise a taxi to take him home.
One of the men tells Mr. Lennon he will help him get home but Mr. Lennon pushes him away saying "get off me".
However, Mr. Lennon decides to leave with the two men.
Moments before the end of the clip and while Mr. Lennon is walking away, the person recording shouts "see you Neil, you ginger c***."
“I find stuff like this disgusting”, said Rangers goal scoring legend, Ally McCoist.
“We don’t know what state they’re in and how vulnerable they feel."
McCoist added: “And by the way I’ve been that way when you’re worse for wear with beer and alcohol.
“I’m not going to preach to anybody about it but I think the invasion of privacy is a complete disgrace."
Motherwell winger, Steven Lawless, described the person filming the video as a "mad creep".
"Big deal if Neil Lennon went out and had one too many - let the guy have a life away from football.
"It’s the mad creep recording him that's the worry!"