Sergi Guardiola snatched a point for the visitors with a late equaliser after Toni Kroos had given the ball away.
"It's left a bad taste in my mouth because we did the most difficult thing, which was scoring in the second half, which wasn't the best," Zidane said.
"After scoring, they equalise... The first half was good, but we lacked the goal.
"The problem wasn't losing the ball, that can happen.
"We were out of position. Then the ball, it's true, we should've sent it the f*** out of there.
"We have to improve and play [for] 60 minutes.
"You have to be practical in the 84th minute. But it's like this today and you have to accept it.
"Any team can beat you. But we have to play for 90 minutes."