Mbappe stepped up to stroke home the penalty for his eighth goal this season and the home side held on hard.
“The handball rules are not really clear,” Terzic lamented.
“PSG will naturally say it was a handball and we will say it wasn’t, but in the end what bothers me most is that we were not aggressive enough.”
The home team scored again in the 58th minute when Vitinha and Hakimi combined to score from close range.
It was a great goal, although Hakimi was helped by Mats Hummels throwing himself on the floor instead of standing up and trying to make a block.
Dortmund sent Marco Reus and recently signed Nicklas Fuelkrug forward, but it was another substitute who came close to hitting the post with London-born teenager Jamie Bynoe-Gittens coming close to the post with 11 minutes remaining.
PSG again missed several chances to score and an effort from substitute Ramos was ruled out for offside in the death overs.