"I've been on five tours, including the World Cup in 2007, and this was the best, both from a personal point of view and the team, because we won, obviously, but really because of the confidence in the squad at the finish," Parks told the Scotsman.
"On my first tour in Australia we were near, but didn't win either game, although we beat Samoa in Wellington, and although we did quite well when we were in South Africa in 2006, they were always in control.
"In Argentina two years ago we should have won the first Test, but didn't, and then won the second, but this felt very different."
The 32-year-old Parks was recalled to the Scotland squad for the first time under Robinson during the 2010 Six Nations and has had a huge impact on his country's fortunes.
Having been discarded by former coach Frank Hadden and initially ignored by Robinson, Parks transferred his club form with Glasgow on to the international stage.
With Parks at the helm, the Scots came close to beating Wales and England in Europe's showpiece event, before stunning Ireland thanks to a superb performance from the rejuvenated outside-half.
Confidence is clearly running high for Parks and the Scottish side as a whole as they continue to build on November's inspirational win over the Wallabies.
"It all came from the performances in the Six Nations and getting that win in Dublin. The players had the confidence because we had performed," added Parks.
"Where that stood out for me was in the first Test when there was no panic when we went behind. We just kept playing and controlled the scoreboard and it worked out for us. We had to claw it back, but we did it playing the way we had wanted to and always felt comfortable.
"The second game was a lot more difficult because the weather was wet and the ball was slippery, and we played into a strong wind in the second half, which made it harder getting into the right areas. But we took our chances to get the points and showed our character to win again.
"Confidence is a huge thing in that. All the players picked have been in good form and I've said before that Andy has made a big difference to how the team goes because he instills a lot of confidence in the players.
"For me it just feels like I'm part of a squad with a real winning mentality. We feel strongly that we should have won three games in the Six Nations, and the fact we didn't just makes everyone want to prove it more and go out there and win more.
"It's not easy and we have a lot to work on, but there's a feeling of onwards and upwards."