Manchester United kick off their Champions League campaign away at PSV Eindhoven on Tuesday 15 September, marking Memphis Depay's return.
Depay joined United for £25m from PSV this summer.
In Group B, United also face CSKA Moscow and Wolfsburg.
United's toughest challenge in the group is the Dutch champions PSV.
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.
United met CSKA Moscow in the Champions League group stage in 2009, drawing 3-3 at home, and winning 1-0 away.
United's last group game is a trip to Wolfsburg, who they also last faced in the Champions League group stage in 2009, wining 3-1 away and 2-1 at home.
Manchester United fixtures:
15 Sep PSV (a); 30 Sep Wolfsburg (h); 21 Oct CSKA (a); 3 Nov CSKA (h); 25 Nov PSV (h); 8 Dec Wolfsburg (a)
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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