The Americans will face the Czech Republic for the fourth time ever, and the first time on Czech soil.
"While we are focused on preparing for the 2014 FIFA World Cup, we must always look ahead and therefore we are thrilled to get this match against the Czech Republic," Klinsmann said in a federation release.
The Czechs just missed out on the World Cup, finishing third in its qualifying group behind Italy and Denmark.
The USA is 0-3-0 all-time against the Czechs, including two meetings at the World Cup. In 1990, the U.S. fell 5-1 to Czechoslovakia in the group stage and in 2006, the U.S. fell 3-0 in the group stage to the Czech Republic.