Manchester City's Champions League curse returned to haunt them after they were drawn with last season's finalists Juventus and Europa League winners Sevilla for the group stage of the competition.
City, who have suffered tough draws in the last four seasons of the Champions League, were selected in Group D - with the other team being Bundesliga side Borussia Monchengladbach.
Arsenal also face a tough task in Group F against Bayern Munich, who have eliminated the Gunners from the competition in two out of the last three seasons - but have more straightforward opposition from Greek side Olympiacos - who are in the middle of a match-fixing scandal - and Dinamo Zagreb from Croatia.
Chelsea boss Jose Mourinho will have a return to a former side Porto, whom he took to Champions League glory in 2004, and his side should have little trouble in Group G with Dynamo Kiev and Maccabi Tel Aviv.
Manchester United's return to the competition after last year's absence should also not trouble manager Louis van Gaal too much, with the opponents in Group B being PSV Eindhoven, CSKA Moscow and German side Wolfsburg.
Commenting on the Champions League draw, Real Madrid star forward Cristiano Ronaldo said: "It will be tough as I think this group is strong but we are going to do the same as before and try to qualify and the win the Champions League."
The holders Barcelona are in an easy-looking Group E along with Bayer Leverkusen, Roma and BATE Borisov from Belarus.
Manchester United and PSV Eindhoven recorded 3-1 home wins when the teams met in the 2000/01 first group stage. The English club were 1-0 winners against their Dutch opponents in the 1984/85 UEFA Cup second round while Memphis Depay moved between the clubs this summer.
United won home (2-1) and away (3-1) against Wolfsburg in the 2009/10 group stage, Michael Owen scoring a hat-trick in the latter game.
United won 1-0 at CSKA in the 2009/10 group stage, before a 3-3 draw at Old Trafford.
The full draw for the UEFA Champions League group stage is as follows:
Group A: Paris Saint-Germain, Real Madrid, Shakhtar Donetsk, Malmo FF
Group B: PSV Eindhoven, Manchester United, CSKA Moscow, Wolfsburg
Group C: Benfica, Atletico Madrid, Galatasaray, FC Astana
Group D: Juventus, Manchester City, Sevilla, Borussia M'gladbach
Group E: Barcelona, Bayer Leverkusen, Roma, BATE Borisov
Group F: Bayern Munich, Arsenal, Olympiacos, Dinamo Zagreb
Group G: Chelsea, FC Porto, Dynamo Kiev, Maccabi Tel-Aviv
Group H: Zenit St Petersburg, Valencia, Lyon, KAA Gent
