Pence may have acted a bit better, but Kaine did get his hits in and did manage to put Pence into a position where he failed to defend Trump. In fact, in about seven places Pence denied Trump saying something that Kaine said that he did (the fact-checkers will have to sort that out tomorrow).
As one commentator said, Tim Kaine came to make the case for 'Hillary 2016', Mike Pence came to make the case for 'Pence 2020'. They said the big loser of the night was Ted Cruz as he just lost his position as the GOP front-runner for 2020.