The match was set to be played behind closed doors, but the Red Devils' manager pulled out because of logistical concerns.
Instead, the Americans will conduct two training sessions at Sao Paulo FC, where the team is training ahead of the World Cup.
It appears the scrimmage is one of the first consequences of a transport strike in World Cup host nation Brazil, with Belgium coach Marc Wilmots telling the Associated Press earlier Wednesday that he "will not take the risk to go to Sao Paulo, looking at the possibility of a strike and traffic jams. I don't want to sit in a bus for five hours."
The AP reported that Wilmots is instead considering an intra-squad match at his team's home base.
The USA's World Cup campaign begins June 16 against Ghana, while Belgium starts the next day with a match against Algeria.