In a highly entertaining game, the Tigers shrugged of last weekend’s loss to Worcester although Gloucester drew first blood with a Ludovic Mercier penalty from 45-metre out.
However the Tigers soon roared into the lead as prop Michael Holford scored after some superb lineout work from lock Ben Kay.
Leicester were back on the scoresheet when Varndell took a perfectly floated pass from flanker Tom Croft and turned up the gas to score in the corner.
Mercier clawed back three points with a penalty, but missed with another chance and a massive drop goal attempt dropped well short.
Goode converted a penalty for Leicester just before the break, but Gloucester hit back with a magnificent try created by James Simpson-Daniel and finished by centre Anthony Allen.
Mercier converted to send the Kingsholm club into the break just two points down at 15-13.
Leicester started the second half strongly and Varndell bagged his second when he dummied past Peter Richards to touchdown in the corner which was converted by Goode.
Goode extended the lead to eight points with a simple penalty, before Simpson-Daniel set up Olly Morgan to score.
Mercier put the pressure on Leicester with a superb touchline conversion and set up an exciting finale. Gloucester threw everything into attack but Leicester held them off.