The defeat at Glanford Park was hard to take for United, who had lead through Martyn Woolford but lost confidence once Rovers had snatched a lead thanks to two goals from the former Iron striker Billy Sharp.
"The players have got to be big enough to accept a bit of criticism, you cannot defend like we did," said Baraclough.
"Confidence is massive in sport and in any walk of life. I've told them that they've made mistakes but we've got Preston away on Tuesday and have an opportunity to make amends.
"I think I've got players in there who can get us out of a hole and I'm not going to get too disappointed."
Richard O'Kelly, the Doncaster assistant boss, praised his side.
"It was a fantastic result and great for everybody who was a neutral or a Doncaster Rovers supporter," he said.
"Two years ago we probably wouldn't have been capable of coming from behind like that. Our organisation, togetherness and the way we supported each other was terrific."