National League North side Kidderminster will host West Ham in the fourth round of the FA Cup while Leicester continue their defence against East Midlands rivals Nottingham Forest.
The Harriers came from behind to defeat Championship side Reading in the third round and will be hoping to achieve another famous scalp at Aggborough.
Holders Leicester thrashed fellow Premier League rivals Watford 4-1 and will make the short trip to the City Ground after Forest sent the Gunners spinning out.
Chelsea eased past National League side Chesterfield on Saturday and will be expected to progress once again after being paired with League One Plymouth.
Liverpool fell behind to Shrewsbury at Anfield today but a much-changed team still possessed enough firepower to see off the League One outfit 4-1 to book a date with Cardiff in the next round.
Steven Gerrard's Aston Villa head to Manchester United in the last tie of the third round on Monday night, with the winners set to host Middlesbrough.
FA Cup fourth round draw in full:
Crystal Palace vs Hartlepool
Bournemouth vs Boreham Wood
Huddersfield vs Barnsley
Peterborough vs QPR
Cambridge vs Luton
Southampton vs Coventry
Chelsea vs Plymouth
Everton vs Brentford
Kidderminster vs West Ham
Manchester United or Aston Villa vs Middlesbrough
Tottenham vs Brighton
Liverpool vs Cardiff
Stoke vs Wigan
Nottingham Forest vs Leicester
Manchester City vs Fulham
Wolves vs Norwich
All ties will be played between February 4-7.