The hosts had all the chances in the first half but Luke Moore wasted the best of them when he failed to beat Stags keeper Alan Marriott.
Mansfield grew into the game after the break and only a succession of superb stops from Worner prevented them claiming a first league win since September.
However, Ardley refused to lavish praise on Worner and insisted his side were finally looking the part in League Two.
"At half-time I though three points was there for us," said Ardley.
"After 25 minutes of the second half I thought we still looked a danger from set pieces, but at that point you could see what they were doing to us.
"We were trying to cope with it but they were physically bigger and stronger than us. It was tough and Ross had to pull off one or two good saves - that's what he's there for.
"I have to be fair to Mansfield, they came out and said 'this is how we're going to play it'. "They pressed really high, they made Ross kick and it started to be not on to pass the ball from the back, and at that point they were bigger and stronger.
"Personally I think we looked like a League Two team, which is something we didn't at times last year. Positions don't matter; it's points."