How To Customise WordPress Comment Submit Button?

I am trying to customise the output code of

<?php comment_form(); ?>

At the moment the submit button outputs the following:

<p class="form-submit">
    <input name="submit" type="submit" id="submit" value="Post Comment">
    <input type="hidden" name="comment_post_ID" value="486" id="comment_post_ID">
    <input type="hidden" name="comment_parent" id="comment_parent" value="0">
</p>

I would like it to output the following:

<div class="panel-footer">
    <input name="submit" type="submit" id="submit" value="Post Comment">
    <input type="hidden" name="comment_post_ID" value="486" id="comment_post_ID">
    <input type="hidden" name="comment_parent" id="comment_parent" value="0">
</div>

I now we can achieve this using css or jquery. But any solution using wordpress functions will be great.

Any suggestions greatly appreciated! :)