Look up "predicative complement" to understand what is going on here.
"Feel" is a "linking verb". Other linking verbs include "to be", "to appear", "to look", and "to seem" (only a partial list). A linking verb ties an adjective to the subject of a sentence. For example:
"He seems happy." ("seems" is a linking verb and "happy" is an adjective).
"He is happy." ("is" is a linking verb and "happy" is an adjective).
"Feeling good" is an adjective phrase anchored by the present participle "feeling". Think of "feeling" as an adjective (not a verb), and think of "good" as an adverb that modifies the adjective "feeling". Grammatically, you should think of the sentences "I am feeling good" and "I am happy" in the same way.