But despite taking the lead through Bobby Wood just before half-time, the visitors lost 2-1 at the Aviva Stadium, with Brentford's Alan Judge scoring a last-minute winner.
Yedlin, who won his 51st cap, had been replaced by Shaq Moore in the 70th minute. Rob Elliot and the injured Ciaran Clark were not involved for the hosts.
The average age of the USA starting XI was just 23 years and 73 days. Yedlin and his team-mates wore rainbow numbers as part of US Soccer's celebration of Pride Month.
USA's next game is against France on Saturday, 9th June.
Meanwhile, Matz Sels was an unused substitute for Belgium as they drew 0-0 with Portugal in Brussels.