The Serie A champions travel to the Santiago Bernabeu for the Group B clash, and Pepe is expecting Juve's quality players to come to the fore.
"We have to respect all of their players," Pepe told Madrid's official website.
"Juve are one of Europe's and Italy's big teams. They have two Champions League titles and great footballers. I hope it is a good match and that the fans enjoy it."
Carlo Ancelotti's side are currently top of the group, with the Italian giants second.