To expand on this, the most efficient way to leave Munar orbit is to burn prograde at the point in your orbit you are traveling opposite the direction of the Mun. Launching 270 and burning on the far side, as described above, does this, but you can get the same effect launching at 90 and burning on the near side.
Put your Kerbin Periapsis between 20 and 30km and the aerobreaking will be strong enough to bring you suborbital without coming in so fast that you risk heat/crash landing issues. You might be able to come in steeper than that, but I know 20-30k works every time. If you're really low on fuel, so long as you can get into the atmosphere (<70k periapsis), your orbit will eventually decay into a landing, but in the thin atmosphere above 40-50k it will probably take a very, very long time.
Regardless, it sounds like you needed more fuel anyway, if you couldn't even make Munar orbit. First places to check are take off and landing efficiency. Read up on efficient ascent trajectories to try to squeeze an extra hundred or two dV out of your launch. Then, try to spend as little time burning when landing as possible. If you've got nerves of steel, you can come in for an almost vertical landing and then wait until you're terrifyingly close to the ground and burn full power. If you want something a little less nerve wracking, below 10k try to keep you're speed at ~altitude/100 until. Once you get low enough to see your shadow, you'll need to eyeball it since alt/100 will crash you if you happen to be over one of the higher parts. Once you're feeling more comfortable, try starting at 5k. Also, make sure you point as close to retrograde as possible.
If that still doesn't get you enough, well, then it's time for moar fuel and moar boosters!