The tie is set to take place at Old Trafford during the week commencing 27 February, with the Reds' two potential opponents facing each other at Pride Park tonight (19:45 GMT KO) with a trip to M16 on the line.
The draw was made live on BBC One during this evening's The One Show, with United ball no.5 and in the hat following Saturday evening's 3-1 home win over Reading at the previous stage.
Four of our last five meetings with League One club Derby, dating back to 2009, have come in the FA Cup, with the most recent in the 2019/20 fifth round.