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The game will take place on July 17 and is the first date of the Gunners’ pre-season schedule to be confirmed so far.
Arsenal and Rangers have a long history together, dating back to the early 1900s when they played in each in 1933 in what was known as the “Game of Champions”.
The fixture became an annual event for many years and was a symbol of the deep friendship held by Rangers manager Bill Struth and Arsenal’s Herbert Chapman.
Arsenal manager Mikel Arteta said: “We’re looking forward to travelling to Ibrox as part of our preparations for the 2021/22 season. I enjoyed two incredible seasons at Rangers and cannot wait to return to Glasgow and feel the incredible Ibrox atmosphere from the touchline.
"It will be a great pre-season test against Steven Gerrard’s reigning Scottish champions. We’re also proud to commemorate the long friendship between the two clubs by playing a part in their 150th anniversary celebrations.”
Due to current restrictions relating to the coronavirus pandemic, away fans will not be able to attend the match.
More information, including how Arsenal supporters can watch the game live will be released in due course.