Despite Lewis Wilson netting his first senior goal on his full debut, Jo Kuffour's leveller ensured it ended all square.
Boothroyd, whose side had previously flirted with relegation, said: "It was a bit of a burst balloon really because I expected us to do a lot better than that. I thought we might have caught them on the counter-attack in the second half but we need to be winning these type of games.
"This game was probably the result of a long, hard and emotionally tough season for a lot of the players. But we need to be able to deal with that.
The game highlighted that we're not too far away from where we want to be but it also showed just what we need to do to get there.
"We need to be fitter and more athletic so that we can out-run teams and get late goals to win games."
But Boothroyd was full of praise for goal scorer Wilson who came into the starting line-up from non-league Newport Pagnell.
He said: "Lewis Wilson was terrific after he scored. He showed some great touches and could have had another couple of goals on another day. He's come straight in a League Two game from playing with Newport Pagnell but he did very well."
