The Socceroos' opening match at the tournament will be against Chile in Cuiaba on 13 June.
Australia's other group matches will be against the Netherlands in Porto Alegre on 18 June and Spain in Curitiba on 23 June.
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"We're going to see some good football in our group, that's for sure," Socceroos coach Ange Postecoglou said.
"There's some great footballing nations and our job is to play our part. It's an enormous challenge for us but for a nation like ours that's exactly what we want.
"We've got a chance to make some headlines when the World Cup comes around."
Postecoglou said the three matches would serve as invaluable experience for his charges.
"We know what Spain are like and the Dutch have always played good football and in this qualifying campaign Chile have been outstanding," he said.
"So there's going to be some real footballing challenges ahead of us. We want to keep growing and keep getting better and that's our measures."
The new coach said his players would all be relishing the opportunity to play some of the world's top nations on the greatest stage of all even though no-one would be expecting them to do well.
"There wouldn't be one of our players who wouldn't be looking forward to this immensely," he said.
"To play the world's best teams that's why you go to a World Cup.
"Everyone will be writing us off in this group, which is I think is logical.
"But from our perspective we've some great opportunities to show the world we can play some good football against the best nations in the world.
"Our group looks the most difficult group but I hope it's the group that plays the best football and we'll play our part in that."
Socceroos players took to Twitter to express their excitement at the challenge of taking on some of the world's best teams:
Spain shapes as the biggest hurdle for the Socceroos of all three opponents. Beating the Netherlands 1-0 in the 2010 World Cup final, the Spaniards have dominated world football in recent years winning the past two editions of the European Championship.
It may have lost 3-0 to Brazil in the recent Confederations Cup final but, with the likes of Sergio Ramos, Andres and Iniesta and Sergio Busquets in its line-up, it is among the favourites at the 2014 World Cup.
Netherlands, meanwhile, cruised through qualifying and boasts names like Manchester United star Robin van Persie in its side.
Chile is lowest-ranked of all three of Australia's opponents at No.15 but are still well above the 59th-ranked Socceroos, the lowest-ranked side in the 32-team tournament.
The South American impressed in a 2-0 international win over England and have Barcelcona star Alexis Sanchez and star Juventus midfielder Arturo Vidal in its roster.
Should the Socceroos qualify out of the group stage, a potential clash with host nation Brazil awaits in the Round of 16.
It was an equally tricky draw for England which was thrown in with South American champion Uruguay, European Championship finalist Italy and Costa Rica in Group D.
Host Brazil, which will kick off the competition on 12 June against Croatia, drew Mexico and Cameroon in Group A.
Spain shapes as the biggest hurdle for the Socceroos of all three opponents. Beating the Netherlands 1-0 in the 2010 World Cup final, the Spaniards have dominated world football in recent years winning the past two editions of the European Championship.
It may have lost 3-0 to Brazil in the recent Confederations Cup final but, with the likes of Sergio Ramos, Andres and Iniesta and Sergio Busquets in its line-up, it is among the favourites at the 2014 World Cup.
Netherlands, meanwhile, cruised through qualifying and boasts names like Manchester United star Robin van Persie in its side.
Chile is lowest-ranked of all three of Australia's opponents at No.15 but are still well above the 59th-ranked Socceroos, the lowest-ranked side in the 32-team tournament.
The South American impressed in a 2-0 international win over England and have Barcelcona star Alexis Sanchez and star Juventus midfielder Arturo Vidal in its roster.
Should the Socceroos qualify out of the group stage, a potential clash with host nation Brazil awaits in the Round of 16.
It was an equally tricky draw for England which was thrown in with South American champion Uruguay, European Championship finalist Italy and Costa Rica in Group D.
Host Brazil, which will kick off the competition on 12 June against Croatia, drew Mexico and Cameroon in Group A.
2014 FIFA World Cup groups:
Socceroos' World Cup fixtures:
- Chile v Australia, 14 June, 8am aest
- Australia v Netherlands, 19 June, 2am aest
- Australia v Spain, 24 June, 2am aest
