Manchester City face Celtic in Champions League draw
German side Borussia Monchengladbach will be the other team in Group B.
Premier League champions Leicester will play Porto, Club Brugge and FC Copenhagen in their debut campaign.
Arsenal have been drawn alongside Paris St-Germain, Basel and Ludogorets, with Tottenham facing Monaco, CSKA Moscow and Bayer Leverkusen.
The draw in full:
Group A: PSG, Arsenal, Basel, Ludogorets Razgrad.
Group B: Benfica, Napoli, Dynamo Kiev, Besiktas.
Group C: Barcelona, Manchester City, Borussia Monchengladbach, Celtic.
Group D: Bayern Munich, Atletico Madrid, PSV Eindhoven, FC Rostov.
Group E: CSKA Moscow, Bayer Leverkusen, Tottenham Hotspur, Monaco.
Group F: Real Madrid, Borussia Dortmund, Sporting Lisbon, Legia Warsaw.
Group G: Leicester City, Porto, Club Brugge, FC Copenhagen.
Group H: Juventus, Sevilla, Lyon, Dinamo Zagreb.