"They shouldn't be playing with fear. They're hurting but we can do something about it," he told BBC Radio Suffolk.
"People talk about top six, but let's get a victory under our belts. We're under pressure at the back and any mistake we make is costing us games."
He added: "It's more frustrating for the supporters sitting in the stands, but the players can make a tackle, a good clearance or - most importantly - score a goal."
With Darren Ferguson, or Nigel Clough, we're young managers learning our trade, and people maybe expect too much too soon
Roy Keane
Ipswich, who are 17th in the Championship, travel to bottom side Preston North End on Saturday, who are managed by Darren Ferguson, son of Keane's former boss at Manchester United, Sir Alex Ferguson.
Talking about the Lilywhites manager, Keane says there can be too much pressure put on up-and-coming coaches.
"It is unfair sometimes. With Darren, or Nigel Clough, we're young managers learning our trade, and people maybe expect too much too soon.
"You've got to give any manager a chance to learn his trade and make his mistakes, but we're all very impatient."
Source: BBC Sport
Source: BBC Sport