The Three Lions failed to book their place in Euro 2008 after suffering a heartbreaking 3-2 home defeat to Croatia.
England were fearing the worst in the WC qualifiers as they were not top-seeded after dropping to 12th place in FIFA rankings.
However, their fears were alleviated after the draw, which was held in Durban city, did not put them in a tough challenge against the likes of Italy, France, Spain, Holland and Germany.
Ukraine, Belarus, Kazakhstan and Andorra will also play in Group 6.
A fierce battle is expected in Group 1, which features Portugal, Sweden and Denmark. They will be accompanied by Hungary, Albania and Malta.
France's task will not be a walk in the park after they were drawn alongside Romania, who registered impressive results in the Euro 2008 qualifiers.
Spain were placed with Turkey while Italy will compete with Bulgaria for a spot in the WC finals.
The nine group winners will qualify directly to the WC while the eight best runners-up will go into a two-legged play-off for the remaining four spots.
Full draw:
Group 1: Portugal, Sweden, Denmark, Hungary, Albania, Malta
Group 2: Greece, Israel, Switzerland, Moldova, Latvia, Luxembourg
Group 3: Czech Republic, Poland, Northern Ireland, Slovakia, Slovenia, San Marino
Group 4: Germany, Russia, Finland, Wales, Azerbaijan, Liechtenstein
Group 5: Spain, Turkey, Belgium, Bosnia-Herzegovina, Armenia, Estonia
Group 6: Croatia, England, Ukraine, Belarus, Kazakhstan, Andorra
Group 7: France, Romania, Serbia, Lithuania, Austria, Faroe Islands
Group 8: Italy, Bulgaria, Republic of Ireland, Cyprus, Georgia, Montenegro
Group 9: Holland, Scotland, Norway, FYR Macedonia, Iceland