The match was played in a great atmosphere with Welsh fans chanting for Al Rayyan and the US fans cheering on their team.
A lively opening 15 minutes saw the US almost open the scoring from a Wales own goal, while Sergino Dest and Weston McKennie were both given yellow cards for hard fouls.
The more dangerous of the two teams continued to look more dangerous and opened the scoring late in the first half when Weah cleverly finished off his chance from a quick- hitting counterattack after being played in behind the defense by Christian Pulisic.
The physical play continued after the goal, with Bale and Chris Mepham seeing yellow shortly before half-time for fouls on the two players.
It was a tale of two halves and Wales manager Rob Page made the key change at half-time when he replaced the ineffectual Dan James with the taller Kieffer Moore.
Wales forced the US to defend for long periods in the second half, and Matt Turner had to make a great save in the 64th minute to deny Ben Davies.
Weah said that the first half had a lot of energy. Wales came into the second half with a vengeance. They pressed us, they had a lot of the ball, and that hurt us.
Berhalter brought on three subs as the half unfolded to help the US see out the match.
With the US poised for a big win to start the World Cup, Bale drew a foul from Walker in the penalty area and delivered an unstoppable spot kick to beat Turner to level the game for good.
"To go a goal behind against a good team like the US, we showed character and we got a point," Page said. We knew who was taking it when we received the penalty.
Has he let us down? It's all about Bale, right?
The US finished with four yellow cards, the most in a World Cup match since 2002 when they drew five against Germany.
The second half was very direct for Wales. They made it very difficult because they have a large team. The pressure was raised.
I think the guys did a good job. The game was a hard fought one and we left everything out there.
Next up for the US is a match against England on Friday, followed by a match against Iran, which lost to the Three Lions.
Weah said that the most important thing was that we didn't lose. We need to keep working and doing what we're good at.
This report was made using information from the news agency.