Arsenal will face Bayern Munich in the Champions League for the third time in four seasons after being drawn against the German club in the group stage.
Manchester United will play PSV Eindhoven, with Dutch striker Memphis Depay set to face his old club.
Chelsea play Porto, the club Blues boss Jose Mourinho steered to a shock victory in the competition in 2004.
Manchester City face Juventus, Europa League winners Sevilla and German side Borussia Monchengladbach.
Each team will play six fixtures in the group stage, with the first match days taking place on 15 and 16 September.
All four English clubs avoided drawing either defending champions Barcelona, or Real Madrid, who have won the European Cup 10 times.
  • Group A: Paris St-Germain, Real Madrid, Shakhtar Donetsk, Malmo
  • Group B: PSV Eindhoven, Manchester United, CSKA Moscow, VfL Wolfsburg
  • Group C: Benfica, Atletico Madrid, Galatasaray, Astana
  • Group D: Juventus, Manchester City, Sevilla, Borussia Monchengladbach
  • Group E: Barcelona, Bayer Leverkusen, AS Roma, BATE Borisov
  • Group F: Bayern Munich, Arsenal, Olympiakos, Dinamo Zagreb
  • Group G: Chelsea, Porto, Dynamo Kiev, Maccabi Tel-Aviv
  • Group H: Zenit St Petersburg, Valencia, Olympique Lyon, Gent

Lowdown on Man City's opponents

Borussia Monchengladbach: Finished third in the German league last season. City have been drawn with a Bundesliga team in all five Champions League groups they've participated in.
"Our opponents could not be more illustrious," said Moenchengladbach sporting director Max Eberl. "This is a huge challenge, but we are looking forward to it because we can measure ourselves against the best."
Juventus: Reached the final last season, where they were beaten by Barcelona, and are the current Serie A champions.
"We are Juventus and must not fear anything or anyone," said Juve chief executive Giuseppe Marotta.
Sevilla: Unai Emery's side won the Europa League for the second year in a row and finished fifth in La Liga last season.
Manchester City director of football services Brian Marwood said: "Historically in the previous four years it's been difficult for us to get out of the group because we have had tough draws. This is no different."

City's fixtures

15 September: Juventus (H) 30 September: Monchengladbach (A)
21 October: Sevilla (H) 3 November: Sevilla (A)
25 November: Juventus (A) 8 December: Monchengladbach (H)

Lowdown on Arsenal's opponents

Bayern v Arsenal
Bayern Munich: Pep Guardiola's side won the German league last year and have eliminated the Gunners in two out of the last three seasons.
Munich captain Philipp Lahm told Uefa.com: "It's great we are meeting two old friends, Per Mertesacker and Mesut Ozil, when we play Arsenal."
Olympiakos: All three of Arsenal's Champions League away games against the Greek champions have ended in defeat.
Dinamo Zagreb: The Croatian champions beat Albanian champions Skenderbeu 6-2 on aggregate in a play-off to qualify.
Arsenal club secretary David Miles told BT Sport: "The draw started very ominously but we are relatively happy with it overall."

Arsenal's fixtures

16 September: Dinamo Zagreb (A) 29 September: Olympiakos (H)
20 October: Bayern Munich (H) 4 November: Bayern Munich (A)
24 November: Dinamo Zagreb (H) 9 December: Olympiakos (A)

Lowdown on Man Utd's opponents

Memphis Depay
PSV: Dutch champions and Memphis Depay's former club.
"It is a very tough draw, but also great to play against Manchester United and to meet Louis van Gaal and, of course, Memphis Depay again," said PSV boss Phillip Cocu.
CSKA Moscow: Beat Sporting Lisbon in a play-off to qualify and finished second to Zenit in the Russian Premier League last season.
"I would distinguish Manchester United as a very strong team," said CSKA striker Seydou Doumbia. "Both those games will be spectacular."
Wolfsburg: Won the German Cup and were behind Bayern in the Bundesliga last year. United won both previous Champions League clashes back in the 2009-10 group stage.
"We are satisfied with our draw," said Wolfsburg winger Andre Schuerrle. "The group is tough but it could have been worse."

United's fixtures

15 September: PSV (A) 30 September Wolfsburg (H)
21 October: CSKA Moscow (A) 3 November: CSKA Moscow (H)
25 November: PSV (H) 8 December: Wolfsburg (A)

Lowdown on Chelsea's opponents

Porto: Runners-up to Benfica in last season's Primeira Liga, Chelsea have never failed to score in their six previous meetings with the Portuguese club.
"Chelsea are a great team and they have a coach who knows our club and Portuguese football inside out," said Porto coach Julen Lopetegui.
Dinamo Kiev: Ukrainian champions, coached by former Tottenham and West Ham striker Sergei Rebrov.
Maccabi Tel Aviv: Won the Israeli Premier League last season and their chief executive Martin Bain is from Scotland.
Former Chelsea goalkeeper Carlo Cudicini, now a global ambassador for the Blues, said: "This not an easy draw at all.
"I don't think going to Tel Aviv and Kiev are easy trips."

Chelsea's fixtures

16 September: Maccabi Tel-Aviv (H) 4 November: Dynamo Kiev (H)
29 September: FC Porto (A) 24 November: Maccabi Tel-Aviv (A)
20 October: Dynamo Kiev (A) 9 December: FC Porto (H)
source:bbcsports