The late leveller helped the Bluebirds extend their unbeaten run to 13 league matches, and Warnock believes it has put them in good for Friday's meeting with table-topping Wolverhampton Wanderers.
"We were a lot better in the second half. That's what it's all about, hanging in there," he told Sky Sports News.
"[Sheffield United] got a few tired legs. I thought they played really well. But give our lads credit, never giving in. When you equalise late on in a game like that, it's a fantastic feeling.
"It sets us up great for the small matter of Wolves on Friday. We look forward to that."
Cardiff remain five points behind Wolves in second in the table, while the Blades are a point away from the playoff positions in ninth.