By further developing the generalized $Γ$-calculus for hypoelliptic operators, we prove hypocoercive estimates for a large class of Kolmogorov type operators which are defined on non necessarily totally geodesic Riemannian foliations. We study then in detail the example of the velocity spherical Brownian motion, whose generator is a step-3 generating hypoelliptic Hörmander's type operator. To prove hypocoercivity in that case, the key point is to show the existence of a convenient Riemannian foliation associated to the diffusion. We will then deduce, under suitable geometric conditions, the convergence to equilibrium of the diffusion in $H^1$ and in $L^2$.