
Sounds like ti was perhaps still too early.
Old breeders will tell you that for best chance of success a bitch should be mated until she is no longer standing (going off) that way you know that you have reached the stage when there are no longer any fertiliseable eggs.
Bitches especially maidens will generally stand for mating between one and five days (except for experienced floozies who may stand for prolonged periods :D ).
This makes sense as some will stand from ovulation, then the eggs are realised about 48 hours later, but are immature and will be ripe to be fertilised in another 2 days and stay viable for about 2 days.
A dogs sperm should be at it's best for about 4 days, so assuming that your bitch stood when she ovulated, rather than later in the hormone cycle they may have died or been too few by the time the eggs were ripe.