Kieffer Moore scored Wales’ equaliser in a 1-1 draw in Slovakia in 2019
Wales will travel to Slovakia for a friendly on Sunday, 9 June, five days before the start of Euro 2024.
Slovakia have already qualified for the finals in Germany, while Wales aim to qualify via the play-offs in March.
Robert Page’s side host Finland in the semi-final on 21 March, with a potential final at home to Poland or Estonia five days later.
Wales last played Slovakia in qualifying for Euro 2020, winning 1-0 at home before drawing 1-1 in Trnava.
The two sides have met on five occasions, Wales winning three times and Slovakia once, in the nations’ first encounter 18 years ago.
June’s meeting will take place in either Bratislava or Trnava.
Wales finished third in European Championship qualifying Group D behind Turkey and Croatia, having maintained hopes of automatic qualification until the final round of games.
They missed out on automatic qualification despite taking four points off the Croatians.
Slovakia were runners-up to Portugal in Group J.
Wales will be grouped with France, Netherlands and Austria if they reach the Euro 2024 finals.
Page’s side kick off their next Nations League campaign at home against Turkey on Friday, 6 September, before travelling to Montenegro three days later.
They will be away in Iceland on Friday, 11 October, with the reverse fixture against Montenegro the following Monday.
They will travel to Turkey on Saturday, 16 November before concluding the group at home against Iceland on Tuesday, 19 November.