Manchester City kick off their Champions League campaign with a tricky home game against Italian champions Juventus on Tuesday 15 September.
On the same night, Manchester United travel to PSV Eindhoven, marking £25m Memphis Depay's return.
The following evening, Arsenal take on Dinamo Zagreb in Croatia, and Chelsea are at home to Maccabi Tel-Aviv.
The Old Trafford club last played PSV back in the Champions League in the group stage in 2000. They won 3-1 at home but lost 3-1 away.
The Gunners played Dynamo Zagreb in the play-off round in 2006, winning 3-0 away and 2-1 at home.
Full draw:
GROUP A: PSG, Real Madrid, Shakhtar Donetsk, Malmo
GROUP B: PSV Eindhoven, Manchester United, CSKA Moscow, Wolfsburg
GROUP C: Benfica, Atletico, Galatasaray, Astana
GROUP D: Juventus, Manchester City, Sevilla, Borussia Monchengladbach
GROUP E: Barcelona, Bayer Leverkusen, Roma, BATE Borisov
GROUP F: Bayern Munich, Arsenal, Olympiacos, Dinamo Zagreb
GROUP G: Chelsea, Porto, Dynamo Kiev, Maccabi Tel-Aviv
GROUP H: Zenit, Valencia, Lyon, Gent
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