Gareth Edds said the Rovers players always believed they had what it took to stay in the division.
A 3-0 victory at Stockport on the final day of the season secured the Club's place in League One for 2010-11, with Gillingham relegated to League Two.
The midfielder told Tranmere Player: "You've got to play each game as it comes. We handled the pressure pretty well and got a good goal at the right time. We always had the belief and it was a great way to stay up.
"I found out I was playing on Friday and I was more than happy to be there and be a part of the last day things. I quite like these events. You just have to clear your mind and do your job.
"It was a great goal [from Ian Goodison] and it set us up for the rest of the game."