Halfpenny had the chance to win the match and the series for the Lions in Melbourne on Saturday, but his kick failed to reach the posts as the Wallabies claimed a 16-15 victory.
Beale experienced an almost identical situation in the first Test two weeks ago when a slip saw his penalty fall short, allowing the Lions to earn the win.
"I have a little bit of sympathy with Halfpenny," Sky Sports News quotes him as saying. "It was a big ask, but he'd been striking the ball well all series.
"We were just very lucky in the end, but full credit to our guys for sticking to it for the full 80 minutes."
The two teams meet in the series decider in Sydney on Saturday.