Queens Park Rangers, now under the management of former Nottingham Forest coach Jimmy Floyd Hasselbaink, will come to the City Ground on the weekend of 8-11 January.
It means the two sides will meet at least twice in the opening month of 2016 as there is also a Championship game schedules for 30 January at the same venue.
Forest were 2-1 winners at QPR in the league earlier this season, Their last FA Cup meeting was in January 2005 when goals from Andy Reid, Kris Commons and Yoann Folly gave Forest a 3-0 victory at Loftus Road.