The Gills twice led with goals from Perpetuini and Ipoua but Hessenthaler was relieved to come away from Selhurst Park with a point after his side had to with-stand a second-half Palace barrage.
"I'm happy with a point although disappointed that we gave two goals away after twice going in front," he said.
"We were under the cosh in the second half and Palace are a good side.
"Still a point away is always a good point. Our keeper Jason Brown got a kick on the knee and we'll have to wait to see what it's like."