Lucas was at fault for Peter Clarke's eighth-minute opener but produced a goalkeeping masterclass from then onwards to ensure Swindon maintained their promotion charge at the expense of one of their closest rivals.
And the former Leeds man told the Swindon Advertiser: "We put in a really good performance and didn't just scrape a draw - we dug in manfully and earned it.
"Before the season started, if you would have said that we would get four points off Huddersfield we would have been more than happy."
He added: "Their first goal was 100% my fault. I thought he was going to pull it back and instead he's gone and toe-ended it in. It went straight in and was bad goalkeeping to be honest."