Croatia beat England 2-1 after extra-time to deny Gareth Southgate’s team a place in the World Cup final, and they will meet at Wembley on June 14.
England will also take on the Czech Republic, who beat them in qualifying for this tournament.
Their third opponent will be the winners of play-off path C, which includes Scotland. The other possible opponents from that path are Israel, Norway and Serbia. The outcome of the play-offs will not be known until the end of March next year.
The Three Lions will play all three of their Group D games at Wembley.
And England boss Gareth Southgate feels their run to the World Cup semi-finals in 2018, and to last summer’s Nations League finals, means other teams should be worried about facing England.
“I think we’ve gained some respect and I think people would view us as a threat, which certainly wasn’t the case ahead of Russia,” he said.
“We also know we have got to improve to another level. It’s hard to assess exactly where we are after this qualifying campaign, but if we looked at the World Cup semi and the Nations League semi, we’ve done all we could in terms of qualifying with the most goals in Europe, so we are on a good track.
“The difference on one day between any of the top 10 teams is so marginal in football.
“It’s different in rugby where only four or five are contenders, with us in the Euros it’s always been more random than a World Cup – you could look at any one of 10 teams and think they could win it.”
Wales were placed in Group A alongside Italy, Switzerland and Turkey.
Italy, coached by former Manchester City manager Roberto Mancini, won all 10 of their qualifiers, having failed to qualify for the 2018 World Cup.
The last two times the sides met in Italy, the Azzurri won 4-0.
Wales won their last meeting with Switzerland, a Euro qualifier in October 2011. Aaron Ramsey and Gareth Bale were the scorers.
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