Joe is correct.
The camera always 'shoots' in RAW, but when you have it set to jpeg, the camera processes the image using the in-camera settings (scene modes etc) and that's what you get on the memory card.
When you have the camera set to record Raw files, the camera does not process the image, just saves the raw data. When you import into Lightroom, it generates a preview, and it sounds like your default settings are giving you a flat/basic image.
In Lightroom, you can apply similar scene modes to get the images looking more like the camera jpegs. They can be found in the develop module, down in the calibration palette. Or you can just make some adjustments as you see fit.
As with everything in Lightroom, if you have something that you want applied to multiple images, it's very easy with the 'Sync' tool.