Champions League winners Chelsea have been drawn in a group including Italian giants Juventus in this year's competition.
Elsewhere, Manchester United will face Spanish side Villarreal, who beat them to the Europa League trophy in May.
Manchester City will play Leipzig, Club Brugge and Paris Saint-Germain, who recently signed Argentine star Lionel Messi.
Here is the draw in full:
Group A Manchester City Paris SG Leipzig Club Brugge Group B Atlético Madrid Liverpool Porto AC Milan Group C Sporting CP (Sporting Lisbon) Dortmund Ajax Be?ikta? Group D Inter Milan Real Madrid Shakhtar Sheriff Group E Bayern Munich Barcelona Benfica Dynamo Kyiv Group F Villarreal Manchester United Atalanta Young Boys Group G Lille Sevilla Salzburg Wolfsburg Group H Chelsea Juventus Zenit Malm?