The Azzurri, who sit 55 places above their Caribbean counterparts in the Fifa world rankings, conceded twice in the final seven minutes after Emanuele Giaccherini and Claudio Marchisio had given them a two-goal lead.
And Prandelli admits the outcome was far from the morale-booster he would have hoped for ahead of his side's Confederations Cup opener against Mexico on June 16.
"It is certainly a bad result, and an embarrassing one, because a draw with Haiti is an embarrassment," he told Rai Sport.
"We arrived yesterday and made many changes. We should’ve been different in terms of spirit today.
"We have to take many aspects into consideration, most importantly we need to find our physical sharpness.
"We’ve worked towards this and you could see today we lost every single sprint, so we hope in five days the team can begin to deliver."