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Referee Thabo Nkosi was caught in a furious protest by Chiefs players after he turned down Matthew Rusike's appeals for a penalty, when the striker appeared to have been brought down inside the AmaZulu area early in the first half.
"The penalty should have been awarded," Baxter said after the match.
Baxter's comment comes on the back of his harsh criticism of referees following Chiefs' 1-1 Soweto derby draw with Orlando Pirates on December 8.
Baxter said the referees should be held accountable for their performances, in the same way players were responsible for theirs.
"Again we are talking referees and I know SAFA (SA Football Association) does not like coaches talking about referees for some obscure reason," Baxter said.
"I know referees make mistakes, just as long as they make the same sort of mistakes from game to game."
Baxter said there had to be consistency in the way the referees made their decisions.
Usuthu coach Craig Rosslee added his weight behind the criticism of referees when he called for a second yellow card for Rusike after the player was booked earlier in the game.
Nkosi did not feel the player was brought down unfairly, but a second yellow should have been awarded according to the rule book.
"Regarding the situation with the penalty, I thought the player (Rusike) was quite clever, he looked for the penalty," Rosslee said.
"If the player has dived, then the referee needs to stand up and be counted and give the player the second yellow card."
Baxter jokingly added that he was pleased that Rosslee had made such harsh comments of referees, as SAFA had cautioned Baxter after his own criticisms.
"I'm glad Craig said all of that, because I received a letter from Safa saying that I shouldn't comment, otherwise I'll be disciplined," Baxter said.
