The Germany legend feels the Bavarians are more than capable of seeing off the teams in Group D as they bid to defend their European crown.
The Bavarian giants have been joined by CSKA Moscow, Manchester City and Viktoria Plzen in Group D, and the Germany legend says the reigning European champions are fortunate to not be facing much tougher opposition.
"It's a group which is doable for Bayern, it could have been worse," the 67-year-old Beckenbauer told Sky. "Dortmund certainly have the toughest group out of all the German clubs. It will be crucial not to underestimate the teams.
"I think that the English and German sides will all go through in their groups."
Meanwhile, CEO Karl-Heinz Rummenigge warned against underestimating teams that seem inferior to his club on paper.
"It won't be a no-brainer - even for Bayern Munich," Rummenigge said. "Especially CSKA Moscow and Manchester City are not to be underestimated."
"Manchester City, especially, will try to do better against German teams than in the past two years. But of course it's our goal to reach the last 16. Altogether, I think all the German teams face solvable tasks."