The Brazilian headed home a James Tavernier cross in the 93rd minute at Ibrox as Rangers turned around a 1-0 deficit to take all three points.
Speaking to RangersTV at full-time, Danilo said: “Incredible, I don't have words to describe this feeling. It is not only me, but also all of my teammates, it is not one player, it is the whole squad and I think we deserved the three points - we didn't give up.
“That is what the coach said to us as well, we have the quality, so we just have to keep fighting and I think we deserved the three points.”
Lawrence Shankland gave Hearts the lead at Ibrox before James Tavernier found an equaliser with a 90th minute penalty.
Looking back on the match, Danilo believes the squad’s fighting spirit helped push them through to secure the win late in the game.
He continued: “We conceded a goal quite fast, they blocked really well and they defended quite well. We had quality and we created some chances, but I think we had to finish the chances that we had.
“Then unfortunately Tav lost the first penalty and I think it could've been a different game if we scored that goal, but we kept fighting and that is what this club is for.
“We play at home as well so we have to keep fighting and keep believing in ourselves so that is what it was about, and we got the three points.”