Japan star Kyogo Furuhashi's 33rd-minute header looked as if it might give Celtic all three points in front of their Parkhead faithful. But David Watson's header from a corner secured a share of the spoils for Kilmarnock.
The draw took Celtic a point clear of Glasgow arch-rivals Rangers at the top of the Scottish Premiership table. Rangers can regain first place when they go in search of a sixth successive league win away to St Johnstone on Sunday.
Hoops boss Rodgers made no attempt to hide his frustration, saying: "We lacked authority on the ball, we lacked composure, all the things you need to do to control the game. We looked nervous on the ball and, especially second half, we created nowhere near what we would want to.
"It's happened too many times over the course of the season. We have played well in spells but then when we haven't taken our chances and a wee bit of anxiety creeps in, you have to be able to deal with that pressure."
The Northern Irishman, whose side have already lost twice to Killie this season, added: "It is not about ability or technique now, it is about mentality. It is about not letting that man go past you and having that drive and composure to play.
"We saw it the second half, even though we were not under great pressure we kept making it hard for ourselves."
Rodgers insisted Rangers' recent form - they were seven points behind when manager Philippe Clement took over eight games into the season - had played no part in Celtic's troubles.
"Irrespective of how Rangers play or work, it's nothing to do with us," he said, adding: "It's now about the mind game. Physically and technically you're in a good place so it's all about the mind now."
Hearts strengthened their hold on third with a 2-0 win at home to
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