Arsenal have been drawn alongside BATE Borisov, Cologne and Red Star Belgrade in the Europa League group stage.
Arsenal begin a European campaign outside of the Champions League for the first time since the 1997-98 season.
And Arsene Wenger's side will face Belarusian side BATE, Bundesliga outfit Cologne and Serbian club Red Star in Group H.
AC Milan, meanwhile, were pitted against Austria Vienna, Rijeka and AEK Athens in Group D.
The Serie A side are competing in their first European campaign since the 2013-14 season.
Elsewhere, Everton have been drawn in Group E along with Lyon, Atalanta and Apollon Limassol.
Ronald Koeman's side secured their qualification for the group stage with a 3-1 aggregate victory over Hajduk Split in the playoff round on Thursday.
Full details of the draw are below.
Group A: Villarreal, Maccabi Tel-Aviv, Astana, Slavia Prague
Group B: Dynamo Kiev, Young Boys, Partizan Belgrade, Skenderbeu
Group C: Braga, Ludogorets Razgrad, Hoffenheim, Istanbul Basaksehir
Group D: AC Milan, Austria Vienna, NK Rijeka, AEK Athens
Group E: Lyon, Everton, Atalanta, Apollon Limassol
Group F: FC Copenhagen, Lokomotiv Moscow, FC Sheriff, FC Zlin
Group G: Viktoria Plzen, FCSB, Hapoel Beer-Sheva, FC Lugano
Group H: Arsenal, BATE Borisov, Cologne, Red Star Belgrade
Group I: FC Salzburg, Marseille, Vitoria Guimaraes, Konyaspor
Group J: Athletic Bilbao, Hertha Berlin, Zorya Luhansk, Ostersunds
Group K: Lazio, Nice, Zulte Waregem, Vitesse Arnhem
Group L: Zenit St. Petersburg, Real Sociedad, Rosenborg, Vardar Skopje
The first group games will be played on Sept. 14.