Giampaolo Pazzini cancelled out Robinho's opener to follow up from his hat-trick last week.
"The performance from my lads was excellent and I am happy, then a draw is acceptable in football," said Allegri after a 1-1 at Marassi.
"We wanted to win this game, but Samp made it impossible for us. Robinho is doing very well and is now starting to score important goals.
"I'd like to say these great performances are down to the whole team, which is extremely motivated."