David Luiz also returns to the Chelsea side, with Eden Hazard and Alvaro Morata on the bench.
Championship outfit Norwich earned a replay after holding Chelsea to a 0-0 draw on January 6 and are coming into the match in good form after beating high-flying Bristol City 1-0 in their last outing.
James Maddison — who has scored seven goals in England's second tier for Norwich so far this season — starts for the visitors alongside Nelson Oliveira and Josh Murphy.
Chelsea starting XI: Caballero, Azpilicueta (c), David Luiz, Ampadu, Zappacosta, Bakayoko, Drinkwater, Kenedy, Willian, Batshuayi, Pedro.
Chelsea substitutes: Eduardo, Christensen, Sterling, Kante, Musonda, Hazard, Morata.
Norwich starting XI: Gunn, Pinto, Zimmerman, Hanley, Klose, Lewis, Reed, Vrancic, Maddison, Murphy, Oliveira.
Norwich substitutes: McGovern, Husband, Hoolahan, Stiepermann, Raggett, Tettey, Cantwell.