Liverpool will launch their bid to regain the Champions League crown in Amsterdam against Ajax on October 21.
UEFA have released the group stage fixtures and Jurgen Klopp's 2019 winners, whose title defence ended in defeat to Atletico Madrid in the round of 16 last season, face Group D rivals Ajax on matchday one.
Manchester City face Porto at home on the same evening in their first Group C match.
Chelsea will play Group E rivals Sevilla at Stamford Bridge and Manchester United travel to play last season's beaten finalists Paris St Germain in their opening Group H game, both on October 20.