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Brendan Rodgers' side overcame Bournemouth 3-1 in the last eight on Wednesday, and will now face the current Premier League leaders over two legs in the new year.
Chelsea also prevailed 3-1 against Championship opposition, as they triumphed against Derby County on Tuesday.
The two sides contested the final of this competition in 2005, when Chelsea emerged 3-2 victors after extra-time having found a late equaliser through Steven Gerrard's own goal.
The other tie sees Spurs take on League One outfit United, who provided the shock of the quarter-final round by seeing off Premier League Southampton 1-0 at Bramall Lane.
United, have only once before reached this stage, in 2003 - but they have good cup pedigree having reached the final four of last season's FA Cup before falling to Hull City 5-3 at Wembley.
