Stuart Pearce's men beat Norway 1-0 on Monday to finish top of Group Eight with seven wins from eight matches and earn themselves one of the seven seeded berths for the draw in Nyon.
Serbia, who were unseeded, won Group Four with five wins and three draws from their eight matches, which included two victories over Northern Ireland. The two-legged play-offs will be held between October 12-16 with the winners progressing through to next summer's finals in Israel.
England, who are aiming to reach the finals for the fourth successive time, will play the first leg against Serbia at home.
- Stuart Pearce