The 2008 European Champions were grouped with Benfica, Basel and Otelul Galati.
"Think the draw today is a good draw for us," United striker Wayne Rooney tweeted.
"Can't wait for champions league to start again."
Fellow Red Devils striker Michael Owen also thought his side were handed a favourable group to qualify from for the knockout stage of the competition.
"Nice looking Champions League draw. Winning your home games will be key," Owen posted on the social networking site.
United kick-off their European adventure on 14 September away to Benfica. The two clubs share a great history in the European Cup. United famously beat Benfica 4-1 in the 1968 final at Wembley and have also met the Portuguese outfit in the group stage in 2005/06 and 2006/07.
United defender Rio Ferdinand wrote on Twitter: "Decent draw in the CL, benfica is a tough place to go from past experience, great history between our 2 clubs."
Benfica won two European Cups in a row against Barcelona (1961) and Real Madrid (1962) but have failed to land the cup again since then.