Lehmann, speaking in a radio interview last week, accused Broad of "blatant cheating" following the pace bowler's decision not to walk after edging a catch at Trent Bridge.
Broad told his Twitter followers: "Spoke to Darren Lehmann last (Sunday) night. He apologised for his comments, I accepted it. He said they were made in Jest for banter. Done."
Lehmann, whose team were beaten 3-0 by England over the five-Test series, also called on the Australian public to make life so difficult for Broad during the Ashes rematch in Australia later this year that he will want to cry and go home.
Former Australia batsman Lehmann, who took over as coach at the start of the series following Mickey Arthur's acrimonious departure, confirmed Monday he'd spoken to Broad to draw a line under the incident and will look to make sure he chooses his words better in future.
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"I've had a chat with him already. We just move on," Lehmann said.
"It was a good learning curve for a new coach, wasn't it? You know, it was a jovial setting but you've got to learn from that. I've got to learn and improve from that.