The Leaf-footed Bug (Acanthocephala terminalis) is found in the eastern United States west to Colorado and Texas. Adults are about an inch in length. Their antennae are in four segments, the last segment is orange, (this is what I normally see) or yellow or white.
Their common name, shared with other species (making things a bit confusing, but that is often the case with common names), makes reference to the Leaf-footed Bug’s last pair of legs that resemble a leaf. Adults overwinter. Eggs are laid in the spring then there are five nymph stages. Quite the interesting bug to see.