Holders Spain, who beat Germany in the final in Vienna in 2008, were drawn into Group I, a five-team group, against the Czech Republic, Scotland, Lithuania and Liechtenstein.
Fifty-one countries entered the draw, with host nations, Poland and Ukraine, waiting for them in the finals.
The groups will be contested across the usual league system on a home-and-away basis, with all matches scheduled between September 2010 and October 2011.
The nine winners and the runner-up with the best record will join the two hosts in the finals. The eight remaining runners-up go into play-off matches in November 2011 to decide the final four sides to join co-hosts Poland and Ukraine, making it 16 teams who will battle for Spain's title.
Euro 2012 will be the last European Championships with 16 teams, as from Euro 2016 the tournament will be expanded to 24 teams.