Arsene Wenger's side will take on the Bundesliga champions while Manchester City take on Juventus and Chelsea face Jose Mourinho's former side Porto.
Arsenal will face Bayern Munich in the group stages of the Champions League having been drawn together in Group F.
The Gunners will also face Olympiakos and Dinamo Zagreb as they look to plot a way through to the knockout stages for the 14th consecutive season.
Meanwhile, Manchester United will take on PSV, CSKA Moscow and Wolfsburg while Premier League champions Chelsea face Jose Mourinho's former side Porto, Dynamo Kiev and Maccabi Tel-Aviv.
Manchester City will take on Juventus, Europa League champions Sevilla and Borussia Monchengladbach, while reigning champions Barcelona face Bayer Leverkusen, Roma and BATE Borisov. Real Madrid, meanwhile, have been drawn alongside Paris Saint-Germain, Shakhtar Donetsk and Malmo.
Arsenal's clash with Pep Guardiola's side will see the north London outfit again take on German opposition having faced Borussia Dortmund in three of the past four seasons.
United, meanwhile, take on Dutch champions PSV, which will see Memphis Depay return to the club that he helped to Eredivisie glory while City will be looking to win the group for the first time ahead of last season's runners-up Juventus.
Group A sees Real Madrid take on Ligue 1 champions PSG in one of the round's glamour ties while Zlatan Ibrahimovic will return to boyhood club Malmo.
In the two other groups, Atletico Madrid will take on Benfica, Galatasaray and debutants Astana while Valencia face Zenit, Lyon and Gent.
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