They didn't leave us hanging too long. Bruce Arena was named the head coach of the US mens national team a day after Jurgen Klinsmann was let go. It was widely speculated he'd get the gig, given his previous World Cup experience coaching the US, as well as his success with LA Galaxy in the mean time.
Of course we still have to consider how we got here. What went wrong with Klinsmann? FiveThirtyEight can show you how his tenure went in one chart.
If you want more details, Matt Doyle tears apart Klinsmann's reign with plenty more evidence, including lots of results and quotes from players about his coaching style.