National League North side Kidderminster Harriers will host Premier League West Ham United in the fourth round of the FA Cup.
League One Plymouth Argyle are away to Chelsea, while National League Boreham Wood will visit Championship leaders Bournemouth.
League One Cambridge United's reward for beating Newcastle is a home tie with Championship side Luton.
The fourth round will be played between 4 and 7 February.
Draw in full
Crystal Palace v Hartlepool United
Bournemouth v Boreham Wood
Huddersfield Town v Barnsley
Peterborough United v Queens Park Rangers
Cambridge United v Luton Town
Southampton v Coventry City
Chelsea v Plymouth Argyle
Everton v Brentford
Kidderminster Harriers v West Ham United
Manchester United/Aston Villa v Middlesbrough
Tottenham Hotspur v Brighton and Hove Albion
Liverpool v Cardiff City
Stoke City v Wigan Athletic
Nottingham Forest/Arsenal v Leicester City
Manchester City v Fulham
Wolverhampton Wanderers v Norwich City
More to follow
Watch five third-round ties live across the BBC including Manchester United v Aston Villa - plus highlights from every match (UK only).