Eddie Nketiah put Arsenal ahead three minutes before the break but the home side equalised five minutes into the second half through Yorbe Vertessen.
The Gunners, who had already secured first place in the group, finished with 13 points from their six matches with PSV on nine, ahead of Lens in third, who drop down to the Europa League.
Nketiah's first Champions League goal was teed up by a square pass from Reiss Nelson, whose run down the right and interchange of passes with Cedric opened up the home defence.
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