The centre-back admitted that Leon Clarke's early goal for the Blades was avoidable, but claimed that the Welsh promotion-chasers were good value for a draw as they dominated the second half.
"The pitch wasn't great tonight. We knew we had to battle. It wasn't pretty and their goal was a bit sloppy from us, but in the second half I thought we were the better team," he told Sky Sports News.
Cardiff left it late to secure a point at Bramall Lane, needing a last-minute equaliser from Anthony Pilkington to avoid defeat.
The Championship's second-placed club are up against league leaders Wolverhampton Wanderers in their next fixture.