Jimmy Page, John Paul Jones, and Jason Bonham had auditioned singers for a potential tour after Plant said he wouldn't be involved with the permanent reunion.
However, Page's manager Peter Mensch said a suitable singer was not found and the band would not continue in any form.
"I am not singing in Led Zeppelin or any offshoot of Led Zeppelin," Kennedy, who sings in Alter Bridge, told Blabbermouth.net. "But I did have a great opportunity and it was something that I'm very grateful for."
He added: "Alter Bridge will go on, and that's that. [The audition was] surreal. It was great. I'll tell that story some day. But for now, it was a good experience, and I'm still pinching myself, let's put it that way."
For more on Led Zeppelin, check out their NME.com page.
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