I recently cut the cord also (about 6 months ago) and am very happy. I was also afraid I would miss things...and had no idea how to go about it, but I was determined to cut for the cost savings. I figured, if other ppl can figure it out, so could I.
I have a few suggestions for the terrified
1) Choose 1 tv in your home to "practice" with. Do not cut direct TV at this point... just disconnect it from your TV. That way, if you are miserable, all you have to do is hook it back up-no harm no foul.
2) get an indoor antenna and a streaming device. I chose Roku, but there are several to choose from.
3) hook up the indoor antenna and the streaming device.
4) now see where you are. What are you getting between those two things, and what you may already subscribe to (ie netflix, prime etc)
5) decide what you still need as far as channels/programming to be happy. Look at the different streaming services (ie hulu live, direct tv now, fubo) I opted for Hulu Live, but as others have stated, there are several to chose from and most have a free trial. Experiment and get to the point where you are happy.
6) now you can repeat those steps for each TV you have left
7) cancel Direct TV or or bag the whole idea and hook your Direct TV back up.
There is so much MORE programming to watch when you have streaming vs Direct TV. It is really amazing.