Altidore scored a goal in each half to send his country to Brazil on the back of three straight friendly wins.
Chelsea's Victor Moses scored a consolation from the penalty spot for Nigeria, who are in the same group as Argentina, Bosnia-Herzegovina and Iran.
The United States face Germany, Portugal and Ghana.
Lineup, Bookings (0) & Substitutions (9)
USA
- 01 Howard
- 23 Johnson
- 07 Beasley (Chandler - 75' )
- 13 Jones
- 20 Cameron
- 05 Besler
- 11 Bedoya (Zusi - 60' )
- 15 Beckerman (Diskerud - 72' )
- 17 Altidore (González - 80' )
- 04 Bradley
- 08 Dempsey (Wondolowski - 87' )
Substitutes
- 02 Yedlin
- 03 González
- 06 Brooks
- 09 Jóhannsson
- 10 Diskerud
- 12 Guzan
- 14 Davis
- 16 Green
- 18 Wondolowski
- 19 Zusi
- 21 Chandler
- 22 Rimando
Nigeria
- 01 Enyeama
- 05 Ambrose Emuobo
- 13 Oshaniwa
- 10 Mikel (Gabriel - 45' )
- 02 Yobo
- 14 Oboabona
- 11 Moses
- 17 Onazi
- 23 Sh Ameobi (Emenike - 64' )
- 08 Odemwingie (Babatunde - 45' )
- 15 Azeez (Uchebo - 74' )
Substitutes
- 03 Echiéjilé
- 04 Gabriel
- 06 Egwuekwe
- 07 Musa
- 09 Emenike
- 12 Odunlami
- 16 Ejide
- 18 Babatunde
- 19 Nwofor
- 21 Agbim
- 22 Omeruo
- 25 Uchebo
Ref: Mark Clattenburg
Live Text Commentary
Full time
90:00 +2:41 Victor Moses (Nigeria) wins a free kick in the attacking half.
90:00 +2:41 Foul by Michael Bradley (USA).
90:00 +1:40 Attempt missed. Emmanuel Emenike (Nigeria) right footed shot from outside the box is too high. Assisted by Michael Uchebo with a headed pass.
90:00 +0:54 Victor Moses (Nigeria) wins a free kick in the defensive half.
90:00 +0:54 Foul by Michael Bradley (USA).
90:00 +0:50 Attempt blocked. Chris Wondolowski (USA) right footed shot from the centre of the box is blocked. Assisted by Fabian Johnson.
86:34 Substitution
84:53 Penalty conceded by Matt Besler (USA) after a foul in the penalty area.
84:36 Attempt saved. Mix Diskerud (USA) right footed shot from outside the box is saved in the bottom left corner. Assisted by Michael Bradley.
83:36 Corner, Nigeria. Conceded by Timothy Chandler.
82:43 Attempt saved. Emmanuel Emenike (Nigeria) right footed shot from the right side of the box is saved in the bottom left corner. Assisted by Reuben Gabriel with a through ball.
80:52 Juwon Oshaniwa (Nigeria) wins a free kick in the defensive half.
80:52 Foul by Graham Zusi (USA).
79:50 Substitution
Full Time Match ends, USA 2, Nigeria 1.
90:00 +3:39 Full time
Full Time Second Half ends, USA 2, Nigeria 1.
90:00 +3:04 Offside, Nigeria. Victor Moses tries a through ball, but Efe Ambrose is caught offside. 90:00 +2:41 Victor Moses (Nigeria) wins a free kick in the attacking half.
90:00 +2:41 Foul by Michael Bradley (USA).
90:00 +1:40 Attempt missed. Emmanuel Emenike (Nigeria) right footed shot from outside the box is too high. Assisted by Michael Uchebo with a headed pass.
90:00 +0:54 Victor Moses (Nigeria) wins a free kick in the defensive half.
90:00 +0:54 Foul by Michael Bradley (USA).
90:00 +0:50 Attempt blocked. Chris Wondolowski (USA) right footed shot from the centre of the box is blocked. Assisted by Fabian Johnson.
86:34 Substitution
Substitution Substitution, USA. Chris Wondolowski replaces Clint Dempsey.
85:35 Goal scored
Goal! Goal! USA 2, Nigeria 1. Victor Moses (Nigeria) converts the penalty with a right footed shot to the bottom left corner.
84:53 Penalty Nigeria. Victor Moses draws a foul in the penalty area. 84:53 Penalty conceded by Matt Besler (USA) after a foul in the penalty area.
84:36 Attempt saved. Mix Diskerud (USA) right footed shot from outside the box is saved in the bottom left corner. Assisted by Michael Bradley.
83:36 Corner, Nigeria. Conceded by Timothy Chandler.
82:43 Attempt saved. Emmanuel Emenike (Nigeria) right footed shot from the right side of the box is saved in the bottom left corner. Assisted by Reuben Gabriel with a through ball.
80:52 Juwon Oshaniwa (Nigeria) wins a free kick in the defensive half.
80:52 Foul by Graham Zusi (USA).
79:50 Substitution
Substitution Substitution, USA. Omar González replaces Jozy Altidore.
79:11 Foul by Michael Uchebo (Nigeria). 
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