Supporters had barely found their seats for the Group G clash when USA captain Clint Dempsey found the back of the net after just 29 seconds at the Arena das Dunas.
But Ghana appeared to have earned a draw when Andre Ayew levelled proceedings eight minutes from time only for second-half substitute Brooks to head home the 86th-minute winner as the USA made a winning start in Group G.
The USA's win - their first against Ghana in two previous attempts at the World Cup - was just the result Jurgen Klinsmann's men needed following Portugal's drubbing at the hands of Germany.
Jozy Altidore almost doubled the USA's advantage in the 19th minute after Fabian Johnson's low cross found the towering striker inside the six-yard box, but his attempt on goal was blocked.
It proved to be Altidore's last bit of action after the Sunderland player was stretchered off the pitch two minutes later with a potential World Cup-ending hamstring injury - a blow to Klinsmann, who controversially overlooked all-time leading scorer Landon Donovan for the showpiece event.
Asamoah Gyan - Ghana's leading scorer during qualification with six goals - was also guilty of wasting a glorious chance 10 minutes into the second half after finding himself unmarked in the area, only to fire his header over the crossbar.
For all of Ghana's possession, they could not find a way past goalkeeper Tim Howard, with the African nation lacking composure in the final third.
Ghana's joy was short-lived, however, as defender Brooks rose highest to score from a corner with just four minutes of regulation time remaining.
