Hosts Germany will face Scotland in the opening match of Euro 2024 in Munich following the draw on Saturday and defending Champions Italy will be in the same group as Spain.
The Germans, three-times winners, will kick off the one-month tournament in Munich on June 14, with the final on July 14 at Berlin's Olympic stadium.
Germany will also play Hungary, who came through the qualifying campaign unbeaten, and Switzerland in Group A.
Italy face a tough task to defend their title, drawn in Group B along with Spain, Croatia and Albania.
Italy defeated Spain on penalties in the semi-finals on their way to winning Euro 2020, but lost 4-0 to the Spanish in the 2012 final. Croatia reached the semi-finals at the last World Cup.
Spain's opening game is against Croatia, before they take on Italy.
France and the Netherlands will meet again after coming through qualifying in the same group, drawn in Group D alongside Austria and the winners of playoff A.
France, who won both games against the Dutch on their way to topping the qualifying group, kick off their Euro 2024 campaign against Austria in Duesseldorf.
France coach Didier Deschamps said.
England, runners-up at Euro 2020, are in Group C alongside Denmark, Slovenia and Serbia. England, who needed extra time to see off Denmark in the 2020 semi-finals, start the tournament against Serbia.
In Group E, Belgium face Romania, Slovakia and the winners of playoff B, Israel, Bosnia, Ukraine or Iceland.
Portugal are in Group F, alongside Turkey, Czech Republic and the playoff C winners, one of Georgia, Greece, Kazakhstan or Luxembourg, who finished third in Portugal's qualifying group.
The top two in each of the six Euro 2024 groups proceed to the round of 16 along with the four best third-placed finishers.
The draw was held at the Elbphilharmonie concert hall in Hamburg, one of the 10 host cities of the tournament.