Arsenal draw Bayern, Man U get PSV, Barca face Roma, Chelsea for Port
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.
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 Dutch champions 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, who won the Israeli Premier League last season.
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.