The Three Lions were drawn in Group F alongside Gordon Strachan’s side, Slovakia, Slovenia, Lithuania and Malta.
The draw was made at the impressive Konstantin Palace in St Petersburg on Saturday afternoon.
Roy Hodgson’s side will be facing familiar opposition, with both Lithuania and Slovenia in their Euro 2016 qualification group.
And it was only last November that England last met Scotland, winning 3-1 at Celtic Park on a memorable evening in Glasgow.
The winner of each of the nine European groups qualify automatically alongside hosts Russia, with the best eight runners-up entering the play-offs in November 2017.
In total, 141 teams were drawn in Saturday's ceremony.
Dates for the fixtures will be announced in due course.