Neil Danns fired City ahead in the 11th minute, but Tommy Smith's 32nd minute leveller earned Ipswich a share of the spoils at Portman Road.
McInnes said: "I'm frustrated not to get three points because I thought we were by far the better team.
"When you play that well and create chances, you hope to win.
"We dominated the first half, although the second was more even, and played with a confidence.
"There was a concentration and focus about us, which is especially important in away matches."
Relegation rivals Barnsley, Sheffield Wednesday and Peterborough all recorded victories to apply more pressure on second from bottom City, but McInnes insists he is focusing only on the Robins' results.
"Anyone can beat anyone in this league, but I'm not too concerned about others at the moment because there are still so many points to play for," he said.
"I'm just concentrating on my team."