Having already secured a two-match series against trans-Tasman rivals New Zealand in September and a clash with another co-host in Canada on Friday October 10 (Saturday AEST), the Socceroos will face Mauricio Pochettino's side in Colorado four days later.
It will be the first clash between the two since the Socceroos, who recently moved up two places to 24th in the world rankings, were beaten 3-1 in the final warm-up match before their 2010 World Cup campaign in South Africa.
"Another important match for our preparation that quickly follows our fixture against Canada," Socceroos coach Tony Popovic said.
"When looking at our schedule following direct qualification, we identified travelling to North America as a high priority. Our results over the last 10 months have now given us the chance to play matches against two of the tournament hosts, an opportunity we intend to make the most of.
"The United States are another strong opponent and a great test for our squad. There will be much to take from our experience in this camp, and we're looking forward to the challenge."
Popovic, who wore the green and gold 58 times as a player, including at Germany 2006, remains unbeaten as Socceroos boss after eight matches in charge.
Taking over from Graham Arnold last September, Popovic has enjoyed five wins and three draws - highlighted by crucial wins over Japan and Saudi Arabia.
The US are currently ranked 15th in world and earlier this month were beaten 2-1 by Mexico, the third of next year's co-hosts, in the Concacaf Gold Cup final.
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