Joe Jackson filed the lawsuit against Dr. Conrad Murray on Friday - the one year anniversary of Michael Jackson's death - in a federal court in Los Angeles.
The lawsuit claims that Murray was negligent in the care of the King of Pop. It also claims Murray began a course of medication treatment for Jackson which was below the standard of care and ultimately resulted in Jackson's overmedication and death.
Murray is accused of administering a mix of sedatives - including the anesthetic propofol - that authorities say killed him.
Propofol is normally administered only in hospital settings, but Murray had been providing Jackson the drug in the bedroom of the singer's rented mansion in Los Angeles. Joe Jackson contends the physician tried to conceal his administration of the drug after Jackson's death.
The lawsuit also names medical clinics that Murray operates in Las Vegas, Nev., and Houston, claiming they did not properly train or supervise the doctor. The lawsuit was filed in federal court because Murray's clinics are in other states and the doctor lives in Nevada.
Murray has pleaded not guilty to an involuntary manslaughter charge filed in February. His attorneys have said that he did not give Jackson anything that "should have" killed him.
"Whatever he did was to help. And he took the necessary precautions and then something happened that is unexplainable," said attorney Ed Chernoff.
Michael Jackson's mother Katherine is also named as a plaintiff in the suit as guardian of his three children, whose names appear in the suit as well. Joe Jackson has asked for unspecified damages in connection with the death of his son.
The lawsuit claims Murray repeatedly lied to paramedics and doctors about giving Jackson propofol. Using hospital records obtained earlier this year, the lawsuit claims Murray told an emergency room doctor that he had only provided Jackson two medications, Valium and Flomax.
It also claims the doctor changed his story to police. Murray's attorneys have said detectives misinterpreted parts of Murray's statements, and their official timeline differs from what he says happened.
The lawsuit faults Murray for not keeping adequate medical records. It also says Murray used his clinics in Nevada and Texas to obtain drugs that were then given to Michael Jackson.
The Jackson family patriarch is seeking damages for a variety of issues, including loss of income and support, emotional distress, and pain and suffering.
The Associated Press contributed to this report.