Kidderminster, the lowest-ranked side remaining in the FA Cup, will play West Ham in the fourth round after the draw was made on Sunday evening.
The National League North outfit, who stunned Reading with a 2-1 victory on Saturday, are rewarded with a tie at the London Stadium. Non-league side Boreham Wood have been handed a trip to Championship table-toppers Bournemouth.
Holders' Leicester face the winners of Sunday's late kick-off between Nottingham Forest and Arsenal, while Liverpool will take on Cardiff.
Premier League leaders Manchester City are up against Championship promotion contenders Fulham at the Etihad Stadium and Chelsea host Plymouth. Tottenham and Brighton will meet in one of three all Premier League fixtures.
The fourth-round matches will be played on the opening weekend of February.
FA Cup fourth-round draw in full:
Crystal Palace v Hartlepool
Bournemouth v Boreham Wood
Huddersfield v Barnsley
Peterborough v QPR
Cambridge v Luton
Southampton v Coventry
Chelsea v Plymouth
Everton v Brentford
Kidderminster v West Ham
Man Utd or Aston Villa v Middlesbrough
Tottenham v Brighton
Liverpool v Cardiff
Stoke v Wigan
Nottm Forest or Arsenal v Leicester
Man City v Fulham
Wolves v Norwich
Ties to be played over the first weekend in February.
