Anthony Le Tallec's 86th-minute equaliser saw Les Parisiens drop two vital points on leaders Montpellier in the Ligue 1 title race.
"There has been complacency, we seem to struggle winning games," said Ancelotti. "I'm angry at the players, as they have to be decisive.
"PSG did not deserve to beat Auxerre, we did not put on one of our best performances. Worse than the result is the attitude of his team, which has worsened. We played very casually, too casually even.
"We cannot be satisfied with our performance levels if we're serious about winning Ligue 1. We need to show more character."
PSG are now two points behind Montpellier in the Ligue 1 table.