Gianfranco Zola's experimental Watford team will provide interesting opposition for Manchester City, while the lowest-ranked side left, Hastings, will face a long journey to Middlesbrough if they beat Harrogate Town in a replay.
Tottenham Hotspur welcome third-tier side Coventry City in a repeat of the 1987 Cup Final.
There are four all-Premier League ties. West Ham will host Manchester United, while Arsenal will be given the chance to avenge Saturday's defeat to Swansea City.
Harry Redknapp's Queen Park Rangers, who have a tough League schedule, were handed another difficult match against West Bromwich Albion, and current trophy holders Chelsea will travel to Southampton.
FA Cup third round draw in full:
Crystal Palace vs Stoke City
Brighton vs Newcastle
Tottenham vs Coventry City
Wigan vs Bournemouth
Fulham vs Blackpool
Aston Villa vs Ipswich Town
Charlton vs Huddersfield Town
Barrow/Macclesfield Town vs Cardiff City
Barnsley vs Burnley
Manchester City vs Watford
Swansea City vs Arsenal
Leicester City vs Burton Albion
Milwall vs Preston
Cheltenham/Hereford vs Everton
Derby County vs Tranmere Rovers
Crawley Town vs Reading
Aldershot Town vs Rotherham/Notts County
Middlesbrough vs Harrogate/Hastings United
Accrington Stanley/Oxford United vs Sheffield United
Southampton vs Chelsea
QPR vs West Brom
Peterborough vs Norwich City
Lincoln City/Mansfield Town vs Liverpool
Bolton vs Sunderland
Nottingham Forest vs Oldham
West Ham vs Manchester United
Hull City vs Alfreton Town/Leyton Orient
Blackburn vs Bristol City
Leeds United vs Birmingham City
Bury/Southend vs Bradford City/Brentford
Luton Town vs Wolves
Sheffield Wednesday vs MK Dons
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