The draw for the last four of the cup also hands Wigan, Blackburn or Millwall a chance to qualify for next season's Europa League, as well as a chance of making the Wembley final.
Roberto Mancini's side confirmed its place in the last four with a commanding 5-0 thrashing of Barnsley on Saturday but will have to await the outcome of a replay after Chelsea came from 2-0 down to draw 2-2 at Old Trafford on Sunday evening.
After falling behind to first half goals from Chicharito and Wayne Rooney, the FA Cup holder rallied, securing a replay thanks to strikes from Eden Hazard and Ramires.
The other semifinal tie will see either Millwall or Blackburn Rovers meet Wigan Athletic. The Premier League side surprisingly defeated Everton 3-0 at Goodison Park, while the Championship outfits also faces a replay after a 0-0 draw on Sunday.
Should one of the eventual finalists qualify for next season's Champions League, it will mean one of the Latics, Millwall or Blackburn would qualify for the Europa League next season in place of the sixth-place side.
The ties will take place on the weekend of April 13 and 14.