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 on their return to the competition, with striker Memphis Depay to face to his old club.
Chelsea will play Porto, with whom Jose Mourinho won the competition in 2004.
Manchester City face Serie A’s Juventus, Europa League winners Sevilla and Borussia Monchengladbach.
- 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
Arsene Wenger’s Gunners side are also in the same group as Olympiakos of Greece for the fourth time in seven seasons, with Dinamo Zagreb of Croatia completing the four.
In addition to PSV, United were drawn with Russian club CSKA Moscow and last year’s German Bundesliga runners-up Wolfsburg.
Mourinho’s Chelsea also face Ukrainian champions Dinamo Kiev and Maccabi Tel Aviv of Israel.
Defending champions Barcelona of Spain will play Bayer Leverkusen, Roma and BATE Borisov while Astana – the first club from Kazakhstan to play in the Champions League proper – were drawn against Benfica, Atletico Madrid and Galatasaray.
Valencia, who beat Monaco in a play-off to secure their place as Spain’s fifth representative in this year’s group stage – a record in the competition – will face Russian champions Zenit St Petersburg, French club Lyon and Gent of Belgium.
Paris St Germain striker Zlatan Ibrahimovic will face his old club Malmo for the first time, with Real Madrid and Ukraine’s Shakhtar Donetsk completing their group.