The actress - who stars alongside James Nesbitt and Brit Marling in the police drama - revealed that it had always been a dream to work with the Slumdog Millionaire director.
She told PA : "Danny is one of the nicest directors I've ever worked with. He's so welcoming and involved, it's a pleasure."
Halfpenny added that Boyle sent the cast to watch real Territorial Support Group officers on the job in order to give them a taste of what it is like to work in the police.
She also praised him for his attention to detail while working on Babylon.
Babylon airs on Channel 4 tomorrow night
The former EastEnders actress explained: "So we turn up at the cafe, which has black and white tiles, and Danny says, 'Right, everyone take your coats off'.
"So we're all in our stab vests and white shirts and Daniel Kaluuya, who plays the cameraman, is standing in front of the cafe with a dark jacket on with this bright orange hood. And Danny says, 'It's going to look like a black and white shot [except for] this big orange hood of Daniel's'.
"It's essentially a scene which is five seconds long but visually, he made it so beautiful. I love the way he thinks so much about every single thing he does. It's inspiring."
Babylon airs tomorrow night (February 9) at 9pm on Channel 4.
Watch a trailer for Babylon below:
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