The Robins were unlucky not to leave Home Park with all three points after a late free kick from substitute Luke Young rescued a point for the hosts.
Despite this, Yates was pleased with the Town's performance following a run of three consecutive defeats.
"We're a bit disappointed but on the back of a few defeats it was a much improved performance from last Saturday," the 44-year-old told the club's official website. "I thought we played some really good football in the second half. I watched the first half from the stands and to be honest I wouldn't have wanted to pay to watch that from both sides.
"We stopped them from playing and we did a good job on them. I wanted more from my team in the second half. I wanted more enthusiasm, drive and craft and I thought we got that right from kick off.
Cheltenham are back in action next weekend when they face Northampton Town at Whaddon Road.