FA Cup winners Arsenal will face League of Ireland side Dundalk, Rapid Vienna and Molde in Group B of the 2020-21 Europa League.
Tottenham have been drawn alongside Bulgarian champions Ludogorets, LASK and Royal Antwerp in Group J.
The first three group matches will take place on successive Thursdays from 22 October.
Dundalk beat Faroe Islands club KI Klaksvik on Thursday to secure their spot, while Austrian side Rapid Vienna were eliminated from the Champions League third qualifying round.
Tottenham, two-time winners of the preceding Uefa Cup, beat Maccabi Haifa in the play-off round, while Leicester were beaten to a top-four place on final day of the 2019-20 Premier League season to end up in the Europa League.
Draw in full
Group B: Arsenal, Rapid Vienna, Molde, Dundalk
Group J: Tottenham, Ludogorets, LASK, Royal Antwerp