The Germans, three-times winners, will kick off the one-month tournament in Munich on June 14, with the final on July 14 in Berlin's Olympic stadium.
The draw was held at the Elbphilharmonie concert hall in Hamburg, one of the 10 host cities of the tournament. Germany will also face Hungary and Switzerland in Group A.
Italy face a tough task in defending their title, drawn in Group B where they will face Spain, Croatia and Albania. Italy defeated Spain on penalties in the semi-final on their way to winning Euro 2020, but lost 4-0 to the Spanish in the 2012 final.
Croatia reached the semi-final stage of the last World Cup. France and the Netherlands will meet again after coming through the qualifying in the same group, drawn in Group D alongside Austria and the winners of playoff A.