Premier League champions Liverpool will face Ajax in the Champions League group stage this season.
Chelsea are in a group with Europa League winners Sevilla, while Manchester City will face Porto.
Manchester United have been drawn against Paris St-Germain, who they knocked out in the last 16 in 2018-19.
Meanwhile Cristiano Ronaldo and Lionel Messi are set to face each other after Juventus and Barcelona were drawn in Group G.
The draw in Geneva is taking place without club officials present due to the ongoing coronavirus pandemic.
This year's group stage begins on Tuesday, 20 October while the final is on Saturday, 29 May at the Ataturk Stadium in Istanbul.
2020-21 CHAMPIONS LEAGUE GROUP STAGE DRAW IN FULL
Group A: Bayern Munich, Atletico Madrid, Red Bull Salzburg, Lokomotiv Moscow
Group B: Real Madrid, Shakhtar Donetsk, Internazionale, Borussia Monchengladbach
Group C: Porto, Manchester City, Olympiakos, Marseille
Group D: Liverpool, Ajax, Atalanta, Midtjylland
Group E: Sevilla, Chelsea, Krasnodar, Rennes
Group F: Zenit St Petersburg, Borussia Dortmund, Lazio, Club Brugge
Group G: Juventus, Barcelona, Dynamo Kiev, Ferencvaros
Group H: PSG, Manchester United, RB Leipzig, Istanbul Basaksehir
2020-21 CHAMPIONS LEAGUE GROUP STAGE DRAW IN FULL
Group A: Bayern Munich, Atletico Madrid, Red Bull Salzburg, Lokomotiv Moscow
Group B: Real Madrid, Shakhtar Donetsk, Internazionale, Borussia Monchengladbach
Group C: Porto, Manchester City, Olympiakos, Marseille
Group D: Liverpool, Ajax, Atalanta, Midtjylland
Group E: Sevilla, Chelsea, Krasnodar, Rennes
Group F: Zenit St Petersburg, Borussia Dortmund, Lazio, Club Brugge
Group G: Juventus, Barcelona, Dynamo Kiev, Ferencvaros
Group H: PSG, Manchester United, RB Leipzig, Istanbul Basaksehir
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