"It wasn't a penalty," Boothroyd said.
"Initially, when I first did see it at full pace and from the first two angles, I did think it was a penalty. However, it is the third replay from another angle where you see Saliba touch the ball with his head.
"When he touches the ball with his head, it's not a penalty."
'Never seen it in my life'
Asked by Sky Sports for his take on the decision, Mikel Arteta said:
"I have never seen it in my life and Saliba touches the ball. For me, a clear no penalty."
"The game comes with a decision that is very disappointing.
"I have never seen a decision like this in my career. I asked the boys if they have and nobody has seen it before.
"When you look at the incident, the distance, the player, Joao Pedro touching the ball, Saliba touching the ball, you can see contact there."
Asked if he felt VAR should have overturned the decision, he replied: "If I expect it? I checked and after three seconds they said they already checked it. It seems quick."
He added: "Joao Pedro has gone down like he's been hit in the face with a bat but ultimately, Saliba has got the ball.
"It's not a penalty because there's a touch on the ball. It's just a bad decision.
"The only thing I'd look at is because the ball has landed where Pedro wants to run, the referee has looked at it and thought it's a penalty, but when you look at all the angles we are privileged to see, it's not a penalty."
'You can clearly see the contact'
Jamie Redknapp on Sky Sports:
"Saliba gets himself in a muddle. Then it's just a reaction, to stick his head out to try and win the ball. It's chaotic and it's not what we would normally associate with Arsenal.
"Is it a penalty? Absolutely. You can see the contact."
Steve Sidwell on Sky Sports:
"Joao Pedro has shown a bit of Brazilian flair. As the ball has come up, he reads the bounce and flicks it up. It's a genuine attempt to get the ball from Saliba but Joao Pedro gets there before him."
'What is VAR doing?'
Redknapp on Brighton pen
Jamie Redknapp and Steve Sidwell discuss Brighton's penalty against Arsenal and are critical of the Gunners' defensive pair Gabriel and William Saliba, labelling their defending as 'chaotic'.
Morrison agreed and questioned the involvement of Paul Tierney and Dan Cook, who were on VAR duty at Stockley Park for the game at the Amex Stadium.
"I don't blame the referee, I blame VAR," Morrison said.
"What is VAR doing up there?
"This is the first time I've seen the incident but after three replays I can clearly see the touch on the ball from the defender.
"From the referee's angle, I'd have said penalty. But after watching it two or three times it is just not a penalty."
Sometimes we say they take too long over decisions but that is crucial for Arsenal. Arsenal are going for the Premier League title. The dropped points could be crucial for Arsenal come the end of the season. Take your time and see all the angles. If we've seen it this quick, how can the officials not see it?
Clinton Morrison on Sky Sports News
He added: "Send him to the monitor.
"I don't care if Anthony Taylor is one of the best referees around. Send him to the screen.
"Sometimes it feels like VAR are worried to send the top referees to the monitor and overrule him.
"But everyone can make mistakes. That is what VAR is there for. It's there to help."
Mikel Arteta says he is very disappointed with Brighton being awarded a penalty and claims William Saliba touched the ball before making contact with Joao Pedro's head.
Pedro's successful spot kick meant Arsenal are now five points behind Premier League leaders Liverpool having played two games more, and Boothroyd insists more time should have been taken over such a key decision in the game and potentially the title rce.
"With VAR, sometimes they take ages with an offside decision that I know is offside straight away," Boothroyd said.
"Then you see events like this one where it is something they should take their time on and look at properly. Obviously, I think they've got this one
"These are the sort of points dropped that will cost Arsenal.
"When you look at the whole game, towards the end Arsenal were holding on.
"Brighton played really well in the second half. Let's give them a lot of credit. Fabian Hurzeler made some really good substitutions that came on and affected the game.
"But ultimately, it's the penalty that has stopped Arsenal getting the result they needed."
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