Having seen his side haul themselves out of the relegation zone with a good run of form, Boothroyd then had to wait for survival to be confirmed after a trio of defeats.
That run was stopped with a hard-fought point at Edgar Street which means hosts Hereford cannot now catch the Cobblers.
Boothroyd said: "We're delighted to be safe. We were bottom of the table from Christmas to mid-March but we have crawled ourselves off it with a good run.
"That's down to the staff and recruiting right, but it was very tense when Hereford hit the post at the end.
"It was a battling performance and resilient, we were the better team in the first half, but we came under immense pressure in the second and Hereford were the better side.
"They threw caution to the wind, there were seven or eight players in the box all the time but we managed to hang on in there."