Arsenal have been placed in a Champions League group alongside Bayern Munich, Olympiacos and Dinamo Zagreb.
As Premier League champions, Chelsea were the only English club seeded in pot 1 and Jose Mourinho's side will expect to progress from a group featuring his former club Porto, Dynamo Kiev and Maccabi Tel Aviv.
Man City face tough examinations of their credentials against last year's finalists, Juventus and Europa League winners Sevilla, while Man United travel to PSV and CSKA Moscow.
Here is the group stage draw in full:
Watch all the goals from every Champions League play-off second leg tie played this week including Man United's resounding victory in Belgium, and a night to forget for Celtic.
Wayne Rooney ended his 878-minute goal drought with a fine hat-trick as Manchester United destroyed Club Brugge to qualify for the Champions League group stages.
Valencia survived a scare to book their spot in the Champions League group stage at the expense of Monaco in the battle between two former finalists.
Celtic's Champions League hopes ended amid some controversy as a 2-0 defeat by Malmo at the Swedbank Stadion put the Swedish side through to the group stages on a 4-3 aggregate victory.
Watch highlights of every Champions League match played this week, as Man United and Celtic recorded home victories in their first leg play-off ties.
Memphis Depay struck twice as Manchester United came from behind to beat Club Brugge 3-1 at Old Trafford in their Champions League qualifying play-off first leg.
Ivan Rakitic told ITV Sport's Gabriel Clarke that he believes his first season at was 'crazy' and 'unbelievable'.