Spurs lost their 1-0 lead in the 54th minute, but were able to come back to take all three points with two goals in the final quarter-of-an-hour.
The Portuguese coach was happy with the resilience his team showed once the scores were levelled:
“The problem was 1-0 wasn’t enough. They had the determination and motivation to get a result. But we played really well and had opportunities.” He is quoted by BBC Sport.
“We felt a little bit of anxiety but managed to get the result which was fair.
“We’ve been scoring a lot of goals and I think the team is the second-best attacking team in the Premier League. We create chances and we took our chances.”
The three points were not enough to take top spot in Group J, with Italian outfit Lazio securing the position.
Tottenham’s runners up finish may see them face one of the teams eliminated from the Champions League.
Villas-Boas believes that clubs dropping out of the top European competition should not be allowed into the Europa League:
“(It is) Extremely unfair,
“You can’t give a bonus to teams who’ve failed. I’ve raised it in UEFA meetings but it is for them to decide.”
Emmanuel Adebayor gave the Londoners the lead after 29 minutes, but Panathinaikos levelled the score through Zeca just before the hour mark.
An own goal from Orestis Karnezis and a Jermain Defoe effort secure the win for Tottenham.