One what do you plan to play them once compressed? Just your Mac, or will you want to be able to play them on other devices? A low-bit-rate AAC file would perhaps be the best choice for playback from your Mac, but for maximum portability, go with MP3.
If you choose AAC, the Spoken Podcast preset in iTunes' importing preference should be fine. For MP3, set to 32 kbps. In either case, convert one lecture and listen to it before you convert them all so that you can verify that you'll find the compressed quality to be acceptable.
Regards.