That most definitely was a lucid dream. Anytime you realize you are dreaming then it’s an LD, but some are more vivid than others. I’ve had plenty of low-level LD’s myself. You might want to look into a few ways of prolonging your lucidity and making it more vivid, like screaming “Increase lucidity now!”, spinning around, or looking at your hands. There are several others as well - use what works for you.
Also, you might want to have a look at The Big “Was This a LD” Topic. There you can find similar stories - it’s a pretty common problem we lucid dreamers face!