The referee James Linington awarded the spot-kick when the Rams midfielder Alberto Bueno appeared to dive in the area when challenged by Michael O'Connor, allowing Kris Commons to step up and put the home side ahead after Jonathan Forte had levelled Tomasz Cywka's opener.
"The majority of the crowd were laughing. It was quite unbelievable it was given, no-one could believe it was given and I think he [the ref] may go home and think 'what have I done'," said Baraclough.
"These things happen and hopefully we will get one of those in time - but I did find it hard to take. Some of my players were irate at some of the decisions and I said to them that the first thing we do is finish the game with 11 men because there's no way we can play against Derby with 10."
Baraclough was again disappointed his side started slowly, conceding an early goal once more, but praised the way his players fought back.
"It seems to be happening in recent weeks. We couldn't have worked on it any more through out the week, we went back to basics and then we find ourselves one down after two minutes which doesn't help the cause," he said.
"That's three games on the trot now and we couldn't have highlighted it any more so it can't be right and can't be coincidence that it keeps happening game after game.
"We gave ourselves a mountain to climb which I felt we were climbing and got ourselves back into the game with a fantastic goal yet I think the game will be remembered, certainly by me, for some of the baffling decisions.
"We were coming on strong and they had a man sent off but I felt we could have passed the ball quicker, certainly in wider areas because they were flooding the middle of the park and I didn't think we passed it well enough when they went down to 10 men.
"I thought we were dangerous when balls were going in the box - but one didn't quite drop for us or we didn't get the finish we were looking for."
Johnny Metgod, the Derby coach, was pleased his side showed their battling qualities.
"In the previous home games we have controlled the games and killed them off by scoring more goals, but it's not always possible to win games the nice way," he said.
"Sometimes you have to grind out the result and for me that's the most pleasing thing. It's very pleasing to see we have made another step if you look at where we were seven or eight months ago. That's not going to guarantee anything but it is nice to take a step in the right direction."