The teams entered the break tied after a try and penalty goal apiece.
Needing to win by 19 points, the U.S. continued to press hard but only added a penalty and will now need to take on Uruguay next year in a home and away series for the final Americas qualifying place.
Canada will feature in pool D in England with 2011 World Cup runners-up France, Ireland, Italy and the second qualifier from Europe.
(Reporting by Ben Everill; Editing by Ian Ransom)
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