British club’s learn their Champions League opponents
Spanish side Valencia and Turkey's Bursaspor make up the group.
United and Rangers were drawn together at the same stage in 2003-04 with United winning 3-0 at home and 1-0 at Ibrox.
Arsenal have been given a favourable draw in Group H.
Arsene Wenger's outfit will face Ukrainian side Shakter Donetsk, Portuguese side Braga and Serbian champions FK Partizan Belgrade.
The Blues will also face Russia's Spartak Moscow and Slovakia's MSK Zilina.