Jonas Eidevall's side came through a two-legged qualification tie with Ajax by three goals to two - drawing 2-2 at home before Vivianne Miedema's winner in the second leg in Amsterdam.
The Gunners have been rewarded for their efforts with two challenging battles against reigning champions Lyon, who beat Barcelona Women 3-1 in last year's final, in Group C.
Arsenal have also been drawn against Juventus and FC Zurich - whom the men's team are currently up against in the Europa League - while Chelsea Women will be in Group A with Paris Saint-Germain Women.
Emma Hayes's team finished as runners-up to Barcelona in 2021, but they were eliminated at the group stage last year and also face Real Madrid in an eye-catching section; Albania's Vllaznia Women complete that group.
Elsewhere, Wolfsburg Women have been drawn against Roma, Slavia Prague and St. Polten in Group B, while Barcelona - last year's runners-up - face Bayern Munich Women, Rosengard and Benfica in Group D.
Women's Champions League draw in full:
Group A: Chelsea, Paris St-Germain, Real Madrid, Vllaznia
Group B: Wolfsburg, Slavia Prague, St Polten, Roma
Group C: Lyon, Arsenal, Juventus, Zurich
Group D: Barcelona, Bayern Munich, Rosengard, Benfica
Sparta Rotterdam 
AZ Alkmaar 
Southampton 
Liverpool 
Como 
Fiorentina 
Sevilla 
Rayo Vallecano 
Ajax 
Pec Zwolle 
Palermo 
Sampdoria 
Ipswich 
Manchester Utd 
Napoli 
Roma 
Moreirense 
FC Porto 
Leganes 
Real Madrid 
Lazio 
Bologna 
Empoli 
Udinese 
CSKA Moscow 
Rubin 
Slovan Bratislava 
AC Milan 
Sparta Praha 
Atletico Madrid 
Valencia 
Barcelona 
Stade Brestois 29 
Bayer Leverkusen 
Red Bull Salzburg 
Bayern Munich 
Paris Saint Germain 
Inter 
RB Leipzig 
Manchester City 
Feyenoord 
Sporting CP 
Arsenal 
FC Rostov 
Spartak Moscow 
Aston Villa 
Juventus 
Celtic 
Club Brugge 
Dinamo Zagreb 
Borussia Dortmund 
Monaco 
Benfica 
PSV 
Shakhtar Donetsk 
Lokomotiv Moscow 
Dinamo Moscow