Champions League holders Real Madrid face opponents including Borussia Dortmund while Pep Guardiola will return to Barcelona after Manchester City were drawn with the Spanish side following the group stage draw.
The Spaniard, who won the European Cup as a Barca player in 1991-92, led Barcelona to Champions League glory in 2009 and 2011 before leaving for Bayern Munich for a three-year spell.
In addition, City will come up against Borussia Monchengladbach, who they defeated home and away during the last campaign and Brendan Rodgers’ Celtic side.
Leicester City’s, who is set to make their Champions League debut will see them play against Porto, Club Brugge, and FC Copenhagen in the group stages.
The Premier League champions are taking part for the first time after their remarkable title-winning season during their last campaign.
Meanwhile, Arsenal will come up against Paris-Saint Germain, FC Basel, and Ludogorets as they participate in the Champions League for the 19th year in a row.
Tottenham Hotspur are also in the tournament for the first time in five years and will go up against CSKA Moscow, Bayern Leverkusen, and Monaco.
The first group stage matches will be played on September 13 and 14.
Full Champions League Group Stage draw:
Group A: Paris-Saint Germain, Arsenal, FC Basel, Ludogorets
Group B: Benfica, Napoli, Dynamo Kiev, Besiktas
Group C: Barcelona, Manchester City, Borussia Monchengladbach, Celtic
Group D: Bayern Munich, Atletico Madrid, PSV Eindhoven, FC Rostov
Group E: CSKA Moscow, Bayer Leverkusen, Tottenham, Monaco
Group F: Real Madrid, Borussia Dortmund, Sporting Lisbon, Legia Warsaw
Group G: Leicester, Porto, Club Brugge, FC Copenhagen
Group H: Juventus, Sevilla, Lyon, Dynamo Zagreb