Carlo Ancelotti's men and the current Serie A champions, who met in the final in 1998, have been joined by Galatasaray and FC Copenhagen in Group B.
Barcelona and AC Milan will resume rivalries again after meeting four times in the last three seasons, with Lionel Messi inspiring the Spanish side to a memorable comeback at the last-16 stage last time round. Joining them in an intriguing Group H is Ajax and Celtic.
Arsenal faces a difficult task to maintain its record of consistently reaching the knockout stages after being joined in Group F by Olympique de Marseille, Napoli, and last season's beaten finalist Borussia Dortmund.
Elsewhere, holder Bayern Munich will take on Manuel Pellegrini's Manchester City for the second time in three years, and Real Sociedad is rewarded for its playoff victory over Olympique Lyonnais with a trip to Old Trafford to take on Manchester United.
The 2013-14 final will be held in the Estadio de Luz in Lisbon.