The winners in 2012, the Czechs have reached the final again this year and will play Serbia in Belgrade on Nov. 15-17.
Serbia, the second seeds and winners in 2010, were drawn at home to Switzerland while world number two Rafael Nadal's Spain will play in Germany.
Britain, helped back by Wimbledon champion Andy Murray, return to the elite after a five-year absence with a trip to the United States - who played the very first Davis Cup tie against Britain in 1900.
World Group draw (first-named country playing at home, prefix number denotes seeding):
Germany v 3-Spain
1-Czech Republic v Netherlands
Japan v 7-Canada
5-France v Australia
6-United States v Great Britain
4-Argentina v Italy
8-Kazakhstan v Belgium
2-Serbia v Switzerland
- Sports & Recreation
- Rafael Nadal
- Andy Murray