Alan Bennett had given the struggling Dons the lead 28 minutes but Adebayo Akinfenwa slotted home his 17th goal of the season 15 minutes from time after Roy O'Donovan collided with Neil Sullivan in the area.
But despite missing the chance to crank up the pressure on those occupying the automatic promotion places, Cobblers boss Boothroyd was satisfied.
"I thought it was a brilliant game, an old-fashioned sort of game, it was like being back in the 1980s again," said Boothroyd.
"It was two fully-committed teams, it was blood and thunder, there were challenges that were allowed to go but it all evens itself out.
"The two teams had a right good go at each other, there would have been plenty of teams that would have folded under that but we had a few surprises of our own and we could have won it in the end.
"We knew that we had to improve on our away form but we stood up to the challenge, we responded to them and generally I'm pleased with a point.
"All members of the squad put their whole heart into the performance and in the end, looking at the bigger picture, we won't be too far away come the end of the season."