Hull City looked to be keeping Tottenham to a draw at their home ground until a Jan Vertonghen cross hit the arm of Egyptian winger, Ahmed Elmohamady, in the six yard box.
Soldado stepped up to take responsibility for the resulting penalty, neatly slotting the ball home past Allan McGregor, bumping his side to number four in the Premier League table.
However, Villas-Boas has hit out at the fans for their lack of support, turning his praise to the players who he saw as the sole reason his team walked away with the full three points.
"I think this victory belongs to the players," he told reporters. "They did it on themselves. We looked like the away team today and played in a very difficult atmosphere with almost no support coming.
"We have a wonderful set of fans but I'm pretty sure they can do better and I know they can do better. Away from home their support has been absolutely amazing.
"We play with no fear and full confidence and that's why we beat all the records away from home last season. I think we need to bring this atmosphere into White Hart Lane and not the negativeness that was present in the stadium today."
The win means that Spurs are within scratching distance of the league leaders; just three points separating them and Arsenal, who now sit perched at the top of the table. Villas-Boas also pointed out the tenacity of opponents Hull, who proved difficult for Tottenham to break down.
He continued: "We didn't have the support we should have done. There was much anxiety from the stands, the players had to do it alone.
"It was difficult to break them down. They came here with a good strategy, which is nothing different to what teams do when they come here.
"The difference today is that we were patient. I compliment the boys for what they did, it was great work-rate."