Lampard insisted England pulled out a "good result".
He told ITV: "These games are not easy and in the end getting a point is a good result considering we were 1-0 down with 10 minutes to go.
"At the start of the game you obviously want to win it but when you consider the circumstances we had a goal disallowed, we hit the post, so in the end we showed great character to get a point."
Lampard admitted his disappointment over Jermain Defoe's disallowed first-half effort, insisting: "I thought he (the referee) pulled it back for a free-kick to us. It wasn't a foul at all so we've very disappointed with that."