GROUP A
France
Switzerland
Romania
Albania
GROUP B
England
Russia
Slovakia
Wales
GROUP C
Germany
Poland
Ukraine
Northern Ireland
GROUP D
Spain
Croatia
Czech Republic
Turkey
GROUP E
Belgium
Italy
Sweden
Republic of Ireland
GROUP F
Portugal
Austria
Hungary
Iceland
Roy Hodgson's men take on Chris Coleman's side on Thursday June 16 in Lens in what will be the teams' second match in Group B.
It was the draw Coleman had been hoping to avoid, but Russia and Slovakia are the other opponents in the group meaning the most daunting rivals had been avoided.
Northern Ireland were drawn in Group C with world champions Germany, plus Poland and Ukraine.
Martin O'Neill's Republic of Ireland side were drawn in Group E, which looks to be the toughest in terms of the path to the knock-out rounds, with Belgium, who are currently top of the FIFA world rankings, Sweden and Italy.
England kick off their campaign in Marseille on Saturday, June 11 against Russia, meet Wales five days later, and end the group against Slovakia in St Etienne on Monday, June 20.
Marseille, Lens, and St Etienne were also the venues for three of England's matches in the 1998 World Cup in France, memorable for goals by Paul Scholes, David Beckham and Michael Owen.
Northern Ireland open their first-ever European Championship campaign against Poland in Nice on June 12.
They then head to Lyon to face Ukraine on June 16 before finishing their Group C campaign against Germany at the Parc de Princes in Paris on June 21.
The Republic of Ireland have been handed a huge task and start their Group E bid against Sweden in the Stade de France on June 13.
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Martin O'Neill's side travel to Bordeaux to face Belgium on June 18 and finish the group stage against Italy in the Stade Pierre Mauroy in Lille.
England boss Roy Hodgson told BBC Sport: "I feel good about it. There was always a very good chance we would meet one of the home nations.
"We are very pleased Wales have done so well, and whichever of the teams we got in that pot it would be tough. Why not have a tough one close to home?
Roy Hodgson "We are very pleased Wales have done so well, and whichever of the teams we got in that pot it would be tough. Why not have a tough one close to home?"
"We know all the Wales players - almost all of them play in England. But what we know most of all is the team is very organised, they have a strong spirit and a good spine. In Aaron Ramsey, Ashley Williams and Gareth Bale, they have three really top class players. We have a lot of respect for Wales.
"When it comes to draws though you are just happy you're name is in the hat because it is such a lottery. You just take what you get."
Under Coleman Wales have risen up the world rankings and currently sit 17th and the former Fulham manager, who admitted he did not want to face England before the draw, knows he must embrace the game.
He told the BBC: "Well, we've got them, it will be a great game, it is two good teams and to win 10 games in the campaign is a fantastic return. England are one of the best teams, and we looked at it and would have wanted to avoid it, but we look forward to it.
"Roy knows this with his experience, but when you get to a tournament it's about the 90 minutes on the day and you have to get it right. It does not matter who you play. Slovakia had some great results, and Russia are Russia. You just have to prepare yourselves in the same way.
"I was so honoured and proud to be here, representing Wales was a fantastic feeling. I am very excited, we're in a group with some hot competition. But that is why we are here, we deserve to be here and I think the tournament will be a fantastic one."
Former England captain Alan Shearer believes players from the Three Lions and Wales will relish their game but played down England's chances in the overall tournament.
"I heard Chris Coleman say beforehand he didn't want to play England but deep down both him and Roy (Hodgson) will be delighted. For the players to play against players they know very well, it's a game they will all look forward to," he told the BBC.
"For the first time in a long time we're (England) going into a tournament, without being disrespectful to any players, without any real superstars. We have a good team and some good youngsters coming through.
"If we're honest it might be a little bit early but we have (Gary) Cahill, (Ross) Barkley, (John) Stones and a very good keeper (Joe Hart). Who knows? We're just looking for a bit of progression with England."
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Ex-Wales and Arsenal striker John Hartson believes Wales must look at their opening game against Slovakia in Bordeaux as a golden chance.
He said: "Look at Russia and England, they are a lot stronger than Slovakia. Wales kick off against Slovakia so it's an opportunity to get three points on the board as early as you can. One win may be enough to take you through."
Swansea caretaker manager and former Wales international Alan Curtis, who saw his side lose 2-1 at Manchester City on Saturday, believes Wales should be feared after their rise up the world rankings in the last two years.
He said: "It is a great draw - a nice easy one for us! I am sure everyone will be really looking forward to it. I think it is fantastic. I know Chris perhaps said he didn't want it (England) but it is there now, so just embrace it and go for it.
"You've got the top seeds, then after that nobody will want to play Wales because of our performances and results over the last couple of years. We should embrace it and what an occasion it will be."
The Republic of Ireland face a daunting task and Martin O'Neill told the BBC: "It couldn't get tougher. Italy should be in Pot 1, they have not dropped down the rankings that much. Difficult games to look forward for the fans but it could not be tougher for us.
"Sweden is a game to look forward to, so let's go for it. Sweden are not a one man team, they were quite strong in qualifying but Ibrahimovic is a top class player.
"I thought I was going to enjoy the draw, I'm not sure I have done. Now we can take time out to study opposition players so that by the time of the games we know everything about them. There is no reason why we shouldn't."
Northern Ireland manager Michael O'Neill gave the verdict on his nation's draw to the BBC: "The most important thing is to try and take something from your first game. The fixtures maybe work in our favour, playing Poland and Ukraine before Germany, which might be the most demanding physically.
"I've not seen a lot of Ukraine, I know Poland and Germany a bit more of course. But we will do a lot of analysis so that in June we will be ready to play.
"It's been a fantastic experience to be here and be a part of things. That was a very exciting 45 minutes and now the preparation can start in earnest.
"At the end of the draw the chief executive said to me: 'Well you have to beat Germany if you want to win the tournament', and of course that was slightly tongue in cheek, but everybody's looking forward to it."