John Johnson's 84th-minute strike restored parity for Town after Matt Saunders put Lincoln ahead in the first-half, before Steele's late heroics kept Northampton's playoff push on course.
And Sampson was pleased with the hard-fought point, he said: "It was a great fingertip save from Jason Steele at the end, it saved us from defeat.
"I am sure he will be critical of his performance if he was at fault in any way for the first goal, but I will wait until I have seen the video until I apportion any blame.
"We always want to beat teams, but Lincoln were good. They are not out of the woods from relegation yet and had a lot to play for.
"We encouraged John Johnson to squeeze forward and he came up trumps. I'm sure our fans enjoyed the trip up here, we were well supported."
Source: Team Talk
Source: Team Talk