The visitors were leading 1-0 courtesy of a Robin van Persie header, his 18th Barclays Premier League goal of the season, when substitute Wayne Rooney went down under a challenge from Steven Caulker inside the box.
Referee Chris Foy declined to award a penalty and Spurs, who dominated the second half, eventually scored a dramatic equaliser through Clint Dempsey two minutes into stoppage time.
United therefore had to settle for a five-point lead over champions Manchester City at the top of the table, and Ferguson was quick to direct his anger at assistant referee Simon Beck.
"It was a clear penalty," he said. "It was definitely a penalty. He has put his leg right in there.
"The linesman is facing it, I thought he had a very poor game, the linesman. I thought he was disappointing.
"We have got that history with him. He never gave offside with (Chelsea striker Didier) Drogba at Old Trafford when he was three yards offside. Everyone remembers that, I certainly do."
The incident with Drogba came in a 2-1 win for Chelsea at Old Trafford in April 2010 and Ferguson felt his side had been let down again, with Rooney seemingly fouled only moments after replacing Shinji Kagawa.
"For me it was a poor performance from him, why he never gave a penalty I don't know," Ferguson added. "I think he had a shocking game, he's had a bad game and we never got anything from that side of the pitch."