England will host Spain in a friendly at Wembley on Tuesday, 15 November.
Sam Allardyce's side will play the 2010 World Cup winners four days after their World Cup 2018 qualifier against Scotland.
Like England, Spain had a disappointing Euro 2016 campaign - also exiting at the last-16 stage after a 2-0 defeat by Italy.
The two countries last met in a friendly in November 2015, with Spain winning 2-0.
Take part in our new Premier League Predictor game, which allows you to create leagues with friends.
Subscribe to the BBC Sport newsletter to get our pick of news, features and video sent to your inbox.