Chelsea were drawn in group G along with Jose Mourinho's former side Porto, Ukranian powerhouse Dynamo Kiev and Israeli outfit Maccabi Tel Aviv.
Arsenal were handed a draw with German giants Bayern Munich, Greek side Olyimpiakos and Dinamo Zagreb in group F.
United star Memphis will be handed a homecoming as the Red Devils face his former club PSV Eindhoven in group B. CSKA Moscow and Wolfsburg complete their group.
City were placed in group D along with last year's beaten finalsts Juventus, Europa League winners Sevilla and Borussia Monchengladbach.
The Champions League 2015/16 Groups Stage draw in full
Group A: Paris Saint-Germain, Real Madrid, Shakhtar Donetsk, Malmo.
Group B: PSV, Manchester United, CSKA Moscow, Wolfsburg.
Group C: Benfica, Atletico Madrid, Galatasaray, Astana.
Group D: Juventus, Manchester City, Sevilla, Borussia Monchengladbach.
Group E: Barcelona, Bayer Leverkusen, Roma, Bate.
Group F: Bayern Munich, Arsenal, Olyimpiakos, Dinamo Zagreb.
Group G: Chelsea, Porto, Dynamo Kiev, Maccabi Tel Aviv.
Group H: Zenit, Valencia, Lyon, Genk.
Group B: PSV, Manchester United, CSKA Moscow, Wolfsburg.
Group C: Benfica, Atletico Madrid, Galatasaray, Astana.
Group D: Juventus, Manchester City, Sevilla, Borussia Monchengladbach.
Group E: Barcelona, Bayer Leverkusen, Roma, Bate.
Group F: Bayern Munich, Arsenal, Olyimpiakos, Dinamo Zagreb.
Group G: Chelsea, Porto, Dynamo Kiev, Maccabi Tel Aviv.
Group H: Zenit, Valencia, Lyon, Genk.
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