Glasgow head coach Gregor Townsend said: "It's three excellent teams we're playing against; three big names of European rugby and a fantastic challenge for us this season.
"We'll absolutely relish it. If you qualify for the European Champions Cup you know you're going to be playing against some of the best teams in Europe. If you get lucky you might get a team that's sneaked in but most of the pools are very tough.
"We've got teams that have won the competition before. Racing 92 are arguably one of the best teams in Europe, who have recently won the Top 14 and are full of top quality players. It'll be a great adventure for us."
European Challenge Cup 2016/17
Pool One: Glasgow Warriors, Leicester, Munster, Racing 92
Pool Two: Toulouse, Wasps, Zebre, Connacht
Pool Three: Toulon, Saracens, Sale, Scarlets
Pool Four: Leinster, Montpellier, Castres, Northampton
Pool Five: Exeter, Ulster, Bordeaux-Begles, Clermont Auvergne