Written in pencil on a sheet of unruled, three-hole notebook paper, the classic 1960s folk protest song was the title track on Dylan's third album. The paper is creased with some small tears and signed "by Bob Dylan."
Sotheby's will offer it for sale on Dec. 10.
Dylan recorded the song in 1963, and that same year performed it at Carnegie Hall. It contains political overtones with lines like, "Come senators, congressmen; Please heed the call."
In February, Dylan performed it live at a White House concert celebrating the Civil Rights Movement.