Steven Gerrard's Aston Villa will travel to Manchester United in the FA Cup third round, while last season's runners-up Chelsea will host non-league Chesterfield.
Holders Leicester have been drawn at home to Watford and former manager Claudio Ranieri in another all-Premier League tie. West Ham will take on Leeds at the London Stadium.
Chesterfield - currently top of the National League - are one of four non-league clubs in the draw. Yeovil earned their place by beating Stevenage on Sunday and will face Championship side Bournemouth at Huish Park.
Boreham Wood beat St Albans on Monday to set up a home tie against Wimbledon. Kidderminster of the National League North are the lowest-ranked side remaining and will face Reading.
League Two side Swindon will welcome Premier League leaders Manchester City to the County Ground and League One Shrewsbury will travel to Anfield to take on Liverpool.
Millwall will face London rivals Crystal Palace at the Den, League One outfit Morecambe will travel to Tottenham and Arsenal, who have lifted the trophy a record 14 times, have been drawn to play at Nottingham Forest.
Harrogate, who reached the third round for the first time after winning 2-1 at Portsmouth on Saturday, will take on Luton at Kenilworth Road.
Premier League sides Burnley, Wolves and Newcastle have all been handed home ties, at Huddersfield, Sheffield United and Cambridge respectively.
Everton face a trip to Hull and Southampton travel to Swansea, while the top-flight's bottom club Norwich have been drawn to play at League One side Charlton.
The 32 third-round matches will take place between January 7 and January 10, 2022.
FA Cup third round: Full draw
Boreham Wood vs AFC Wimbledon
Yeovil Town vs AFC Bournemouth
Stoke City vs Leyton Orient
Swansea City vs Southampton
Chelsea vs Chesterfield
Liverpool vs Shrewsbury Town
Cardiff City vs Preston North End
Coventry City vs Derby County
Burnley vs Huddersfield Town
West Bromwich Albion vs Brighton & Hove Albion
Kidderminster Harriers vs Reading
Leicester City vs Watford
Mansfield Town vs Middlesbrough
Hartlepool United vs Blackpool
Hull City vs Everton
Bristol City vs Fulham
Tottenham Hotspur vs Morecambe
Millwall vs Crystal Palace
Port Vale vs Brentford
Swindon Town vs Manchester City
Wigan Athletic vs Blackburn Rovers
Luton Town vs Harrogate Town
Birmingham City vs Plymouth Argyle
Manchester United vs Aston Villa
Wolverhampton Wanderers vs Sheffield United
Newcastle United vs Cambridge United
Barnsley vs Ipswich Town or Barrow
Peterborough United vs Bristol Rovers
West Ham United vs Leeds United
Queens Park Rangers vs Rotherham United
Charlton Athletic vs Norwich City
Nottingham Forest vs Arsenal