The Blades will travel to Victoria Pleasure Grounds on Friday, 1 August with a 7.30PM kick-off.
Goole are currently managed by former Blades midfielder Curtis Woodhouse who is assisted by former Academy starlet Tyrone Thompson as coach.
Pre-Season Friendlies
22 Jul - Northampton Town (a) - 7.45pm
29 Jul - Huddersfield Town (h) - 7.45pm
01 Aug - Goole (a) - 7.30pm