Liverpool will face Champions League holders Real Madrid, while Arsenal, Chelsea and Manchester City face familiar foes in the group stage.
Brendan Rodgers' side were drawn with Basel and Bulgarian newcomers Ludogorets in a generous group after a five-year Champions League hiatus. The Reds beat Real 5-0 on aggregate in the 2009 Champions League round-of-16 - the last time Liverpool reached the knockout stage of the tournament.
Liverpool will not appreciate reminders that Basel eliminated them from the first group stage in 2002, though, a match that signalled the beginning of the end of Gérard Houllier's Anfield era.
Yossi Benayoun scored Liverpool's winner at Real in 2009
Arsenal return to Borussia Dortmund, who they were beaten by, and beat, last season. The Gunners will also travel to the cauldron that is the Türk Telekom Arena, home to Galatasaray, as well as Anderlecht in a tricky Group D.
Chelsea were much more fortunate. They will enjoy Schalke's company again, there will be a Lisbon homecoming for José Mourinho at Sporting and Celtic's conquerors, Maribor, also lie in wait.
City drew Bayern Munich for the third season out of four and also face tough trips to Roma and CSKA Moscow.
GROUP A
Atlético Madrid
Juventus
Olympiakos
Malmö
GROUP B
Real Madrid
Basel
Liverpool
Ludogorets
GROUP C
Benfica
Zenit
Bayer Leverkusen
Monaco
GROUP D
Arsenal
Borussia Dortmund
Galatasaray
Anderlecht
GROUP E
Bayern Munich
Manchester City
CSKA
Roma
GROUP F
Barcelona
PSG
Ajax
APOEL
GROUP G
Chelsea
Schalke
Sporting Lisbon
Maribor
GROUP H
Porto
Shakhtar Donetsk
Athletic Bilbao
BATE Borisov