The Cardiff forward says he will not watch the chance again but believes the side's performance in the narrow loss at Wembley shows how far they have come under Gary Speed
Wales, who are ranked 117th in the world, performed well in the second half with Aaron Ramsey named as man of the match.
Earnshaw came on as a substitute for Norwich striker Steve Morison and with just 15 minutes left, the 30-year old blazed over from six yards with the goal at his mercy.
The Cardiff striker, who recently moved to the Bluebirds on a free transfer from Nottingham Forest, was upset over his miss but believes the performance shows how much the team has grown.
Earnshaw told reporters: "For me personally I am devastated. To say the least I am p***** off and annoyed. I won't watch it again - no chance.
"I just hope I get another chance here at Wembley in the future. I know I should have scored and my team-mates know I should have scored.
"But for the bigger picture is it is brilliant for me to have chances at Wembley and this team has really progressed tonight."