The draw has seen Belgium stay three points behind leaders Wales in Group B, but with a game in hand.
"The tempo went up and down and the counter-attacks were always sharp and dangerous, but it was a good match and a good result for us," Kompany told UEFA's official website.
"We try to pass the ball around a bit quicker than most, but in matches like this it's very difficult to dominate possession. I had played here twice before and it was never this good.
"It's a really hard away game this, believe me, and if you create good chances in a match like this, in the style that we did it, then that's important. It was an okay performance."
Belgium continue their qualifying campaign on November 16 when they host Wales in Brussels.