Swansea and Burnley will both travel to Premier League sides - the Swans heading to Wigan Athletic, managed by Martinez, who left them to take charge at the JJB Stadium.
Burnley, who defeated Bolton Wanderers in midweek, will travel to Aston Villa.
Leicester City will host West Bromwich Albion while Ipswich Town, who are in North Lincolnshire this week to face Scunthorpe in the Championship, host Northampton Town.
Ipswich's tie may look to be one of the best the Tractor Boys could have got - at home to the only League Two side left in the competition - but their impressive penalty shootout win over Liverpool at Anfield on Wednesday showed they should not be taken lightly.
"We wanted one of the big Premier League clubs, but we'll got to Ipswich and reproduce the form we showed at Anfield," said Ian Sampson, the Cobblers boss, speaking to Sky Sports.
"And in Reading we've already knocked a Championship club out so we'll go to Ipswich and try and do the same thing."
Manchester United, who knocked the Iron out of the competition in midweek, have a home tie at home to Wolverhampton Wanderers.
Draw in full: Newcastle v Arsenal, Birmginham v Brentford, Wigan v Swansea, Aston Villa v Burnley, Leicester v WBA, Manchester United v Wolves, West Ham v Stoke City, Ipswich v Northampton