Yorke was late with his challenge on Pierre Bruny inside the penalty area and conceded the spotkick which Peter Germain converted in the 19th minute at Sunday night's play at Shaw Park on Tobago island.
Trinidad and Tobago had already clinched the series with victories in the two earlier matches that they won 1-0 and 2-1. The third match was hastily scheduled to allow the Soca Warriors to play with Yorke before they battle the Americans on Wednesday in Port-of-Spain.
The 33-year-old Yorke was wearing national colors in a full international for the first time in three years and played the full game. He only rejoined the team Saturday morning after he reconciled with long-standing foe Jack Warner a Trinidadian who is the CONCACAF president and FIFA vice president.
Trinidad has never made it to the World Cup and Yorke's addition was believed to give the Caribbean country its best shot yet at a slot.
Despite creating several good openings after falling behind the locals struggled to find the net and coach Bertille St. Claire was left scratching his head with less than three days to go before the big match against the United States.
The Americans are nursing a 31-match unbeaten streak against CONCACAF nations and are firm favorites in Wednesday's match.
Yorke has played for English clubs since 1991 scoring 20 league goals for Manchester United in the 1999-2000 season. He's made just four league starts and nine reserve appearances this season as a forward for Birmingham City scoring twice.