The draw took place during the Sportsday show on the BBC News channel, with former Arsenal and England captain Faye White picking out the ties.
Our semi-final clash with the Hammers is set to take place over the weekend of Saturday 16 April at the Chigwell Construction Stadium, with fixture and ticket information to be announced in due course.
The FA Cup final is scheduled for Sunday 15 May at Wembley Stadium.
Gareth Taylor's side have overcome Nottingham Forest, Manchester United and Everton respectively to book our spot in the last four, while West Ham have beaten Sheffield United, Reading and Ipswich Town respectively.
We have most recently faced Olli Harder's side in the fifth round of last season's competition, claiming a 5-1 win at the Academy Stadium.
City have reached this stage of the competition for an eighth successive season and most recently lifted the trophy during the 2019/20 campaign.
Women's FA Cup semi-final draw
West Ham United v Manchester City
Arsenal v Chelsea