The South African side, who take part as an invitational team, will play Rounds 3 and 4 at the NCRA Stadium.
Notably, Ruan Pienaar, a fan favourite during his seven years at Ulster, is part of the Cheetahs coaching set-up.
EPCR Challenge Cup | Pool 3 fixtures
Round 1: Ulster Rugby v Racing 92, Friday 5th December, Affidea Stadium, 8pm
Round 2: Cardiff Rugby v Ulster Rugby, Saturday 13th December, Cardiff Arms Park, 8pm
Round 3: Toyota Cheetahs v Ulster Rugby, Sunday 11th January, NCRA Stadium, 3.15pm
Round 4: Ulster Rugby v Stade Francais, Saturday 17th January, Affidea Stadium, 1pm