Roy Hodgson’s men open their campaign against Italy in the Amazonian city of Manaus on 15 June in the only World Cup game.
England take on Uruguay on 19 June and play Costa Rica five days later.
Hosts Brazil are in Group A with Cameroon, Mexico and Croatia while holders Spain open with a repeat of the 2010 final against Netherlands.
Chile and Australia are also in Group B alongside the two 2010 finalists, while Germany face Portugal in Group G, which also contains Ghana and USA.
Colombia, Greece, Ivory Coast and Japan make up Group C, with Switzerland, Ecuador, France and Honduras in Group E.
Argentina have been placed in Group F with Bosnia-Hercegovina, Iran and Nigeria while Belgium will take on Algeria, Russia and South Korea in Group H.