The protective cover (it’s not a lens) that is broken is/was multicoated and made of sapphire glass. The impact that broke the protective cover was hard enough to break the cover and also damage the Image Stabilization. Image Stabilization is the vibration you’re feeling. Under normal conditions, you should never hear or feel the vibration.
The camera module needs to be replaced. Contact Apple Support or an Apple Authorized Service Provider and get an estimate. I suspect you’re in the range of $200 USD for the repair.
You can confirm my suspicions by having Apple perform diagnostics on your iPhone. It can be done in person at an Apple Retail Store or at an Apple Authorized Service Provider. You can also contact Apple Support and request remote diagnostics.
If you’re in the US please call 1-800-MY-APPLE or outside the US, consult the support articles below.
Contact Apple for support and service - Apple Support
Genius Bar Reservation and Apple Support Options - Apple
Explore Service Locations
Official Apple Support