It will be a Blues reunion for Fiyako Tomori, who left Stamford Bridge for the San Siro last season.
Milan technical director Paolo Maldini said after the draw: "The favourites are Milan and Chelsea. It is good to have a strong team in the group, it can simplify the qualification a little bit. It's a group that satisfies us.
"The goal is to improve. Last year, in a difficult group, we finished fourth and therefore the goal is to qualify by finishing in the top two."
Chelsea Champions League fixtures and kick-off times
September 6, 2022: Dinamo vs Chelsea, 5.45pm
September 13, 2022: Chelsea vs Salzburg, 8pm
October 5, 2022: Chelsea vs AC Milan, 8pm
October 11, 2022: AC Milan vs Chelsea, 8pm
October 25, 2022: Salzburg vs Chelsea, 5.45pm
November 2, 2022: Chelsea vs Dinamo, 8pm