The Bluebirds are managed by ex-Leyton Orient boss Russell Slade, who was Grimsby Town's manager for the 2006 League Two play-off final at the Millennium Stadium, when Cheltenham emerged victorious.
Cardiff finished 11th in the Championship last season, having spent the 2013/14 campaign in the Premier League.
Cheltenham will also be at home to higher level opposition on Tuesday, July 21, with details set to be confirmed shortly.
Confirmed pre-season friendlies:
Saturday, July 11: Cirencester Town (a), 3pm
Tuesday, July 14: Evesham United (a), 7.45pm
Saturday, July 18: Weston-super-Mare (a), 3pm
Saturday, July 25: Bristol Rovers (h), 3pm
Wednesday, July 29: Cardiff City (h), 7.45pm
Saturday, August 1: AFC Wimbledon (a), 3pm
The new Vanarama National League campaign kicks off on Saturday, August 8.
The fixtures will be released on July 1.