United States coach Jurgen Klinsmann praised Scotland's improvement under Gordon Strachan following between the two sides.
The Scots lost 5-1 to the Americans in their previous meeting in 2012.
Strachan took charge of Scotland in January and they are now unbeaten in their last three matches.
"It was clear to see that Scotland are on the way up. There was no comparison between this game and the last game," said Klinsmann.
"The team is committed, they are sharp, they are very compact, very difficult to play through and dangerous. Any moment, they can hurt you.
"So, therefore it was a different Scottish side.
"At the time that they came over [to the United States in 2012], the season was over, it was difficult for them to take that on a highest note.
"But you also can see the handwriting of Gordon Strachan.
"They have got the message from Gordon, they are building towards the Euro 2016 qualifiers and you could sense that.
"You can clearly see that everybody's on the same page. They're trying hard."
The US have qualified for next summer's World Cup in Brazil and will continue their preparation for the finals against Austria in Vienna on Tuesday.
And, despite a lack of goals, Klinsmann regarded the match at Hampden as "very useful", whilst lamenting a lack of tempo from his side in the first half.
"It was a very interesting game," said the former Germany and Bayern Munich manager. "Overall, a fair result."
Klinsmann won Euro 96 as a player with Germany and wished Strachan's side well for their upcoming qualifying campaign.
"Everybody wants to see them in the tournament," he added.
"To qualify for the Euros it is a very tricky and difficult road and Gordon knows that.
"It's going to be very tight. Battles, one after the other."
Scotland are also in action on Tuesday with a friendly against Norway in Molde.
And Strachan has indicated that players like Ikechi Anya, Russell Martin and Craig Bryson, who were unused substitutes on Friday, will start against the Norwegians.