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Black-eyed susans (Rudbeckia fulgida or R. hirta) would be a good choice. It grows about 2-1/2 to 3 feet tall and blooms from July until frost in my central Wisconsin garden. Butterfly weed (Asclepias tuberosa) also grows 2-3 feet tall. It blooms June through August and then displays decorative seed pods through the fall. Both these plants continue the yellow/orange coloring common to many daylillies. For a companion color, try the pink/purples of many blazingstars, also called gayfeathers (Liatris species). Most blazingstars run in the 2-4 foot range, so they would really stand out in the center of your daylillies. Also, all the plants I've mentioned can be left standing through the winter. They'll provide food for the birds and provide something of decorative interest as their heads stand up through the snow.
Other plants to look at: sedums, goldenrod (Solidago species), harebells (Campanula rotundifolia), and asters. All of these plants, in addition to the ones listed above, can take medium to dry conditions in well drained soil. Have fun picking!
The great thing about gardening is that you always get a chance to start over!