Craig Levein's men begin their latest campaign with back-to-back home games against Serbia and Macedonia this month.
Croatia, Belgium and Wales make up the rest of Group A.
"We have got a tough group but we have shown in the games in the last two or three years what we can do," said Naismith.
"Against Spain at home we got beat 3-2 but it was more of a mistake rather than being cut open.
"We are confident. We are not under any illusions that there are going to be any easy games. It's going to be tough but we are capable."
Scotland have not qualified for a major international tournament since they reached World Cup 1998.