Rovers will be playing in League One next season after winning promotion in the play-off final last month.
The most recent meeting between the two clubs was in December 1990, when Palace beat Rovers 2-1 in the Zenith Data Systems Cup.
The tie will be played in the week commencing Monday 13th August.
Full draw:
Wolves v Bradford
Grimsby v Burnley
Rochdale v Stoke
Scunthorpe v Hartlepool
Port Vale v Wrexham
Crewe v Hull
Chester v Nottingham Forest
Sheff Utd v Chesterfield
Rotherham v Sheff Weds
Barnsley v Darlington
Bury v Carlisle
Doncaster v Lincoln
Preston v Morecambe
Stockport v Tranmere
Acc Stanley v Leicester
Macclesfield v Leeds
Oldham v Mansfield
Blackpool v Huddersfield
Watford v Gillingham
Swindon v Charlton
Milton Keynes v Ipswich
Southend v Cheltenham
Norwich v Barnet
Shrewsbury v Colchester
Cardiff v Brighton
Swansea v Walsall
Brentford v Bristol City
Bristol Rovers v Crystal Palace
WBA v Bournemouth
Peterborough v Southampton
Hereford v Yeovil
QPR v Leyton Orient
Northampton v Millwall
Dag & Redbridge v Luton
Plymouth v Wycombe
Coventry v Notts County