The Reds, who are third-bottom in the Championship, are still on a nine-match winless run but avoided a fourth straight defeat thanks to Cauley Woodrow's strike.
Stendel said: "We need some moments like that. We were very happy. You can see the players never give up and always believe. It was a big moment for us.
"I think for the team, the players, for us and for the supporters, it was a great moment. We deserved this point. After our performance in the first half, without the two conceded goals, we played a good game for our situation. It’s not so easy to keep the confidence so high but we did it against Derby who are a big name in this league."
Aapo Halme headed the hosts in front but Stendel was disappointed with the two goals late in the first half, which saw Barnsley miss opportunities to clear. The head coach said: "We deserved to be 1-0 in front and had chances to score some more goals but what we did in the two situations for their goals just wasn’t enough. It’s very hard for us to accept conceding goals like that. It was not good play from Derby, it felt like own goals from us."
Woodrow diverted in a shot by Conor Chaplin which was going wide. He said: “I didn’t know too much about it but I knew it was my goal. The main thing is we got a point, which we probably deserved overall.
"It was bittersweet because we conceded two goals we shouldn’t have conceded. We have played well in spells of the last few games, a lot of the time we have done well in the first half of games then we conceded quite sloppy goals. That is no one person’s fault, the whole team is involved in it.
"I could have had two goals in the first half and on another night they go in. But we kept going and didn’t give up which is what the manager wants and hopefully our luck turns around a bit now."