After the celebratory dinner, she posted a photo of the former Olympian giving her a lift so she could take a break from walking in her sky-high Christian Louboutin booties.
"Best daddy in the world," she wrote.
Half-sister Khloe Kardashian echoed Kendall's sentiment with her own birthday wishes for the man who raised her following the 2003 death of her biological father, Robert Kardashian (also dad to Kourtney, 33, Kim, 32, and Rob, 25).
"Happy Birthday to the most amazing dad ever, Bruce Jenner!" the new X Factor host wrote. Later, in a tweet to Kendall, she added, "Get ready for dad's birthday dinner! [Lamar Odom] and I are ready to RAGE!"
Jenner's wife, Kris, also paid tribute to the man of the hour, with an old photo of the two as a young couple and a special birthday message for her spouse of 21 years. (The couple have two children together, Kendall and Kylie, 15; Bruce also has four children from his previous marriages.)
"HAPPY BIRTHDAY BRUCE!" Kris wrote alongside the snapshot, which showed the two decked out in leather and perched atop a motorcycle. "WOW, so many years, so many memories! This pic feels like yesterday. Thank you for being the the best husband, the best dad, the best friend, AND the Voice of Reason, the Rock, and everyone’s 'GO TO' Dad! We all love you very much!
"P.S.," she added, "Kind of in the mood for a spin on the motorcycle now!"