Yevgeni Konoplianka’s superb first-half strike put the visitors ahead after Manchester United midfielder Tom Cleverley had come close to opening the scoring for England.
The Three Lions appeared to be heading towards a shock defeat but Lampard equalised from the penalty spot in the 87th minute to maintain England’s unbeaten start in qualifying.
“We wanted to win this game tonight,” said Gerrard. “We’re at home with our crown behind us. So we’re disappointed not to get the three points.
“But we showed great character and determination. We kept probing for the openings. When the substitutes came on, I thought we created more chances.
“I felt we thoroughly deserved the point if not a bit more based on the chances.”
Everton defender Phil Jagielka backed Gerrard’s claim, insisting England had the chances to secure victory against Ukraine after beating Moldova 5-0 in their opening game.
“We knew it was going to be hard,” said Jagielka. “But we created a lot of chances and we were a little bit unfortunate not to have taken them at important times.
“As the manager said, it was going to be a difficult game. When you’ve got the ability they’ve got, it was always going to be an uphill task after they took the lead.
“Fair play to the boys, we dug in and fortunately Frank Lampard had the penalty.”
Get enhanced odds of 7/1 on Rangers to get promoted on Thursday with Paddy Power.