But Stephen Fitzgerald's second-half try kept Munster within touching distance, before CJ Stander crashed over from close range and replacement Ian Keatley broke Welsh hearts with the last-gasp conversion to secure a 20-18 win.
"The boys did a great job of putting the pressure on during that final few minutes," Foley told the Irish Examiner.
"We are still early in the season but we kept going, got our reward, and a lot of the new guys showed up well which is encouraging."
Munster were actually the last visiting team to triumph at the Liberty Stadium back in 2014 and the victory - in a repeat of the GUINNESS PRO12 semi-final last year which the Irish side also won - saw Foley's troops make it two wins from games this term.
"Not many teams win down here so we are delighted to have got a result," added Foley. "Ospreys beat us home and away last season so we take great pride from this result."
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Guinness PRO12 Munster News
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