The Magpies will face Paris Saint-Germain, Borussia Dortmund and AC Milan - none of who they have met before competitively - as they return to the competition after a 20-year absence.
PSG are the champions of France for the past two seasons, while Dortmund, who were runners-up in Germany's Bundesliga last season, won the Champions League in 1997. AC Milan, meanwhile, were semi-finalists last season and have won the trophy seven times, second only to Real Madrid.
The draw was made at the Grimaldi Forum in Monaco and United's CEO, Darren Eales, and Sporting Director, Dan Ashworth, were in attendance.
Fixtures will be confirmed in due course, with the following match rounds:
Matchday 1: 19th/20th September 2023Matchday 2: 3rd/4th October 2023Matchday 3: 24th/25th October 2023Matchday 4: 7th/8th November 2023Matchday 5: 28th/29th November 2023Matchday 6: 12th/13th December 2023
Fans are advised that there will be no official club travel for the group stages.
The top two teams in each group advance to the round of 16. The third-placed sides in each group transfer to the UEFA Europa League knockout round play-offs, where they will face the UEFA Europa League group runners-up for places in the last 16.