The draw was conducted in Doncaster at Plover Primary School in Intake.
Newly-promoted Belles received a bye to the fifth round this season but now face a very difficult task in the last 16 against the reigning league champions and FA Cup holders - who they also host in the opening round of FAWSL1 fixtures.
The two sides will now meet twice in the space of five days next month.
Former Belles forwards Millie Bright and Bethany England now play for Chelsea.
Draw in full: Birmingham City v Arsenal, Doncaster Belles v Chelsea, Brighton & HA v Sporting Club Albion, Reading v Millwall Lionesses, Yeovil Town v Sunderland, Liverpool v Manchester City, Notts County v Durham, Aston Villa v Everton.
Ties will be played on Sunday, March 20. Winning clubs receive Â£600.
Belles host Chelsea in their opening FAWSL1 match on Thursday, March 24.