The comic creator told crowds at Comic-Con that he was pleasantly surprised by the ideas presented to him by the show's writers and network AMC.
"I never really expected it to be adapted at all," he said.
"I didn't want to do a movie for obvious reasons, and TV always seemed like a tough sell. But AMC got behind it and pushed the limits. It's remarkable. You hear horror stories about adaptations, but every step along the way it's been perfect. I feel blessed, I guess."
Executive producer Gale Anne Hurd added that she was happy to have Kirkman's approval on the project.
"[Writer] Frank [Darabont] and I felt really honoured to be able to collaborate with Robert and keep him involved in the series as much as possible."
Darabont also insisted that the TV series would remain true to Kirkman's original vision.