The Young Lions battled valiantly in Tuesday evening's semi-final showdown at the Stadion Miejski Tychach in a match that went the distance.
After recovering from a goal down through strikes from Demarai Gray and Tammy Abraham, England failed to hold on and were pegged back 20 minutes from time, with penalties being required to separate the pair at the end of an entertaining 2-2 draw.
It was then a familiar tale as Germany came out on top, but Boothroyd insists that he can have no complaints about the display produced by his players.
"You've got to say congratulations to your opponent tonight," he told Sky Sports News. "We gave our all, we did whatever we could. There was times in the game where, even though I felt they went ahead against the run of play, they came back into it and gave us a lot of problems.
"We had our backs against the walls at times but we showed real character and determination and we then went ahead and we showed what we are all about.
"Perhaps looking back, we are all deeply disappointed to take it as far as we did, we can be proud and disappointed. I want us to take that next step and we were so close, so close. On tonight, it just wasn't to be."
Germany will now face Spain in Friday's final following the four-time winners' 3-1 victory over Italy in Krakow.