The Swede feels that the Ligue 1 titleholders still have to make another step up in quality but he is in no doubt that they are moving in the right direction
Los Blancos triumphed 1-0 in the high-profile friendly in Doha, with young striker Jese scoring the only goal of the game.
However, as Ibrahimovic pointed out, PSG could easily have earned a draw had they taken one of the numerous opportunities which came their way.
"[The trip] was really positive," the 32-year-old striker is quoted as saying by Le Parisien. "We worked well and in excellent conditions.
"On one occasion we did two sessions during the day, which does not happen often during the season.
"We are pleased with the work we've done and I think we deserved a little better than a defeat against Madrid. We can hope for a lot from the second half of the season.
"We played a good game against Madrid. We had a lot of chances to score and, although we lost, we're happy.
"Despite that, it is difficult to say we are on the same level as Madrid, as it was just a friendly.
"The important thing for us now is to win trophies."