Georeferenced images in the GeoTIFF format (i.e. TIFF with embedded geographic metadata) can be directly inserted into the correct position in mapping versions of AutoCAD - i.e. in AutoCAD Map 3D and AutoCAD Civil 3D. In a properly setup DWG drawing (with the coordinate system set), use the mapping function to insert the image - the MAPIINSERT command - and leave the TIFF image correlation source.

If you need to place the GeoTIFF in bare AutoCAD or AutoCAD Architecture, you can use the free utility CADstudio GeoRefImg. However, this tool works with a separate "world" georeferencing file - TFW. From a GeoTIFF file, the necessary TFW file can be generated using the ListGeo tool, part of the LibGeoTIFF library. This free tool can be downloaded from FTP LibGeoTIFF [URL verified 3/2013] or from GeoTiff [URL verified 2/2022]. To generate a TFW file, run:
listgeo -tfw myfile.tif > projreport.txt
You can then use GeoRefImg to move the image to its correct position (georeference it).
In this way you can get georeferencing data e.g. from the INSPIRE Geoportal.
Another option for exporting world files is the free utility GeoTiffExaminer [URL verified 2/2022].