I really don't agree with
if you dont feel anything in your muscles the next day then your workout was probably too light.
If you lift regularly, you will feel tired after a hard workout, but you should be feeling good after a few hours, especially if you get a good night's sleep.
I don't agree with that either, and I'm someone who gets sore very easily from lifting.
The real measure of a workout is long-term. Are you getting closer to your goals? Getting stronger, getting leaner, getting faster, etc. in the long term? Soreness is an indication of new stimulus or harder stimulus or just exercise choice, not an indication of success or failure.
I go through this occasionally with clients - I got on vacation, someone else covers and they do a very different workout. They say "I got really sore, I think it was a better workout." Okay, sure, but with me you didn't get sore but your lifts went up, your body fat percentage went down, and you've been injury free. But it's easy to mistake soreness with results, and effort with utility. Just because something grinds you down or was hard or made you sore doesn't mean it's going to make you better.
Joe DeFranco brought that up once - any trainer can make you sore or make you puke, but that's not a measure of your improvement. Soreness is soreness. Recognize that it's going to happen or not happen, but that you need other ways of evaluating your workouts.