Pakistan starting in December, but veteran fast bowler Stuart Broad misses the trip. There is also a first Test call-up for Surrey all-rounder Will Jacks after an impressive summer in which he impressed with bat and off-spin, helping Surrey win the County Championship Division One title.
Jennings returns to the Test squad for the first time since February 2019 after scoring 1,233 County Championship runs this summer, while T20 specialist Livingstone will be eyeing a Test debut after joining the setup for the first time since 2018.
Nottinghamshire seam bowler Broad was not considered for selection, with his partner expecting their first child towards the end of November.
The 36-year-old, who returned to the England squad under the new leadership of coach Brendon McCullum and captain Ben Stokes, helped the team win six of their seven Tests this summer by taking 29 wickets.