Manuel Pellegrini's men face off against Brendan Rodgers' side, while David Moyes' Red Devils will face Serie A sides Inter and Roma
Manuel Pellegrini's outfit will take on Brendan Rodgers' men at Yankee Stadium in Group B, while David Moyes' side take on Italian duo Inter and Roma in Group A.
United take on the Giallorossi at Denver's Sports Authority Field on July 26, before travelling to Washington DC to face the Nerazzurri at the FedEx Field on July 29. Their game against Real Madrid has yet to be scheduled.
Manchester United group managing director Richard Arnold said: "These two matches against strong opposition will provide David Moyes and his team with valuable preparation for the 2014-15 season.
“The team last played in Washington DC in 2011 and the match against Barcelona was extremely well supported. This will be the team’s first visit to Denver and we are excited to meet our fans in this city for the first time."
Liverpool's summer excursion to the US will be the second of Rodgers' Anfield career, with Olympiakos first up in Group B at Soldier Field Stadium on July 27.
The Reds then face Pellegrini's City side at Yankee Stadium on July 30, before taking on AC Milan at the Bank of America Stadium in Charlotte on August 2.
City face Milan on July 27 at Heinz Field before the clash against Liverpool and finish up against the Greeks on August 2 at Bank of America Stadium.
"City have always enjoyed terrific support across the five boroughs having visited the states many times," City captain Vincent Kompany said.
"The passion of our New York fans was clear for all to see when we played at Yankee Stadium last year."