A youthful Bafana side - ranked 73rd in the FIFA world rankings and 13th in Africa - were held away from home by the Warriors who are ranked as the 108th (26th in Africa) best in world football.
The Belgian hit out at his side's lack of an attacking threat against a weakened Zimbabwe team without as many as 13 of its first-team stars.
"You have to score to win games," Broos said post-match.
"Today it was not so good offensively and I think we have to work on that in the next weeks and months.
"To win, you have to score and this was a problem for us today."
Broos added that while he was disappointed with the attacking aspect of his side's display, defensively there were more positive signs.
"I'm happy about the mentality," Broos added. I think the players showed a good mentality while defensively I think it was alright.
"We didn't give too many chances to Zimbabwe and the defence was there so I'm happy about that also."
South Africa currently occupy second position in Group G on one point behind Ghana (3) who clinched a narrow 1-0 win over Ethiopia.
Bafana next host the Black Stars in their second Group G qualifier at the FNB Stadium on Monday.
Kick-off is at 18:00.
Zimbabwe: Shumba, Lunga, Chimwemwe, Mudimu, Bhasera, Kamusoko, Munetsi, Mahachi, Billiat, Kadewere, Musona.
Substitutes: Arubi, Madhananga, Mapisa, Murwira, Moyo, Rusike, Dzvukamanja, Fabisch, Wadi, Songani, Stima, Chikwende.
Bafana Bafana: Williams, Morena, De Reuck , Xulu, Mobbie, Mvala, Mokoena, Tau, Links, Singh, Makgopa
Substitutes: Mothwa, Bvuma, Blom, Dube, Ngcobo, Brooks, Maart, Mbule, Hlongwane, Letsoalo.
