Captain Jacques Rudolph says Glamorgan left Chesterfield having "given it everything" only for Derbyshire to frustrate their bid for a record fifth straight Championship win.
The hosts batted through the final day, finishing on 281 for three when the captains agreed on a draw.
"It's sad we couldn't get that fifth win... but I'm happy," Rudolph told BBC Wales Sport.
Glamorgan are 20 points behind second-placed Surrey in Division Two.
But with a game in hand are the Welsh county genuine promotion contenders, with seven matches to play?
"I think so if we can have a good game against Essex," said Rudolph.
"The most important game will be the one against [leaders] Lancashire at Colwyn Bay.
"If we have a good game there we can really get into the mix and start putting them under pressure.
"This season we've batted at a high rate of runs per over and bowled with incredible discipline. As captain I can't ask more from my players."
Glamorgan face a quick switch between formats with a T20 Blast trip to Sussex on Friday, 10 July before another Championship game at Essex.
"It definitely is different, but you soon get used to it in a couple of games," said spinner Andrew Salter, who claimed two of the three wickets to fall on the final day against Derbyshire.
"In the T20 when someone's coming at you, it's a different ball-game and different tactics but it's fun.
"Hove's a lovely ground and reaching the knockout stages is what motivates you through these long spells of cricket."
Fellow spinner Dean Cosker will rejoin the Glamorgan squad after doing 12th man duty for England in the Ashes Test in Cardiff.
But Chris Cooke will not be back for the Hove game after a family bereavement in South Africa.