"We were promised a nine [out of ten for security] and got delivered a two," Mr Taufel was quoted as telling reporters by the AFP news agency.
"The gunfire .. it just kept going. We thought, when's it going to stop? Who's going to come and save us, how are we going to get out of here? " he said.
"You tell me why supposedly 20 armed commandos were in our convoy and when the team bus got going again, we were left on our own? I don't have any answers to these questions."
Match referee Chris Broad said Pakistan had not provided adequate protection for the team.
Mr Broad, who was in the bus when it came under fire, has accused Pakistani security forces of "vanishing" during the attack.
He said he had raised concerns about security before the team travelled to Pakistan but had been promised high level security protection.
Video footage shot during the attack showed "terrorists shooting past our van, sometimes into our van - and not a sign of a policeman anywhere," said Mr Broad.
"They had gone, left the scene, and left us to be sitting ducks.
"I am extremely angry that we were promised high-level security and in our hour of need that security vanished."
Mr Broad's claims were strongly denied by Ijaz Butt, chairman of the Pakistan Cricket Board, who referred to the policemen killed by the attackers.
Separately, two Sri Lankan cricketers who were injured in the attack have undergone surgery in a Colombo hospital, doctors say.
Tharanga Paranavitana, who had a bullet lodged in his chest, and Thilan Samaraweera, who had shrapnel in his leg, will need around six weeks to completely recover, a senior Sri Lankan sports official told the AFP.
Meanwhile, Pakistani television has broadcast what it says is footage of gunmen fleeing the scene of the attack.
Chris Broad says he is 'angry' about the lack of security
The grainy and edited footage, broadcast on Pakistan's GEO network, shows a man arriving in what appears to be a side street on a motorbike.
Masked men opened fire on the bus, killing six policemen escorting the Sri Lankans and a driver.
Seven players and an assistant coach were wounded. The team later flew back to Sri Lanka.
The attacks are expected to have massive ramifications for the cricket world, with the ICC considering whether Pakistan can co-host World Cup matches in 2011.
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