Manchester City and Arsenal were handed the toughest draw, while Manchester United's group appears weakest of the Champions League group stage.
The Champions League group stage draw took place in Monaco on Thursday.
City were drawn in Group A, which will see them play Bayern Munich, Villarreal and Napoli in their first Champions League campaign.
Full Champions League group stage draw:
Group A: Bayern Munich, Villarreal, Manchester City, Napoli
Group B: Inter Milan, CSKA Moscow, Lille, Trabzonspor
Group C: Manchester United, Benfica, Basel, Otelul Galati
Group D: Real Madrid, Lyon, Ajax, Dinamo Zagreb
Group E: Chelsea, Valencia, Bayer Leverkusen, Genk
Group F: Arsenal, Marseille, Olympiakos, Borussia Dortmund
Group G: Porto, Shakhtar Donetsk, Zenit St Petersburg, APOEL
Group H: Barcelona, Milan, BATE Borisov, Viktoria Plzen