The British territory became a full member of UEFA earlier this year, despite protests from Spain, who claim sovereignty over the island.
The draw for the competition takes place in Paris on February 23, and Infantino has revealed that the two nations will not be facing each other.
"Gibraltar is a full member and will participate in the draw on February 23, but it will not play against Spain," the Italian announced.
"That was one of the criteria that was decided."
Gibraltar has a population of roughly 29,000.