The Gabon international started the game but was unable to help the north London side to find an opener in what was a largely uninspiring first half.
Aubameyang handed Arsenal the lead in the 58th minute at St James’ Park when he was put through on goal and coolly poked home a calm finish.
And former England international Lineker was clearly impressed by what he saw from the striker as he netted his first goal of the season for the Gunners.
Lineker wrote on Twitter right after Aubameyang’s opener: “Lovely relaxed finisher is @Aubameyang7 👌🏻👌🏻.”
Unai Emery brought on new signings Nicolas Pepe and Gabriel Martinelli in the second half but neither were able to help the Gunners find a second goal.
Arsenal will return to Premier League action on Saturday lunchtime when they take on Burnley at The Emirates.
The north London side are aiming to break back into the top four this season after finishing fifth and without a trophy last term.
MORE: Man United latest news
MORE: Arsenal latest news
MORE: Chelsea latest news
MORE: Liverpool latest news