Gareth Taylor’s side will welcome the Londoners to the Academy Stadium on Sunday 31 October in a 12:45 (UK time) kick-off, as the pair lock horns for a place in December’s showpiece Final.
The game will be shown live on BBC One.
City are the current holders of the trophy, having lifted back-to-back FA Cups in 2019 and 2020, winning three of the last four tournaments.
Taylor’s side earned our place in the last four with victories over Aston Villa, West Ham United and Leicester City.
Chelsea reached this stage with wins over London City Lionesses, Everton and Birmingham 4-0.
The two sides have met five times in the competition and four times in the semi-finals.
Our last FA Cup encounter was decided by Magdalena Eriksson’s injury-time own-goal, as City triumphed on home soil before going on to beat West Ham 3-0 in the 2019 Final.
The winners of this fixture will face either Arsenal or Brighton at Wembley on Sunday 5 December in what will be its 50th anniversary.
The Gunners and the Seagulls also meet on 31 October in a later kick-off of 16:30.
Tickets go on sale on Friday 15 October. Full details and pricing can be found here.