Greg Ryan, coach of the US, who are the world's top-ranked team, was clearly furious with the move.
"I don't understand it," Ryan said, adding that no official explanation had been given.
"At this point it doesn't matter. What's done is done.
"We just have to start preparing for North Korea as our first match.
"It's just one that I don't understand."
Reigning champions Germany were given a relatively easy ride against Japan, England and Argentina in Group A.
The draw also smiled on China, runners-up in 1999, who will play Denmark, Brazil and New Zealand in Group D, while world number three Norway will play Ghana, Australia and Canada in Group C.
No explanation
Earlier, officials refused to give a reason for North Korea's pre-arranged placement and stonewalled four separate questions at a bad-tempered press conference on why the Koreans had been taken out of the draw.
Urs Linsi, Fifa general secretary, said the decision had been made by the organising committee, and denied North Korea had been consulted.
"I think if you make a draw you don't ask the teams," he said.
Worawi Makudi, World Cup committee chairman, only said the decision had been made "after careful analysis and study."
The move means North Korea cannot meet China before the semi-finals.
History of the Cup
China hosted the inaugural Women's World Cup in 1991 and was scheduled to hold the 2003 edition before the SARS (Severe acute respiratory syndrome), outbreak prompted a move to the United States.
The US are the most successful World Cup team, winning the first title in 1991 and again in 1999 and reaching the semi-finals in the other two editions.
Their 1999 victory gave women's football its most iconic moment to date, when a record crowd and huge TV audience watched a thrilling penalties win over China.
Norway were the 1995 winners and Germany are the title-holders after their 2-1 golden goal win over Sweden in 2003.
The fifth World Cup will be played from September 10 to 30 this year across the five Chinese cities of Wuhan, Chengdu, Hangzhou, Shanghai and Tianjin.
The top two teams from each group progress to the quarter-finals.