Julien's Auctions had planned to sell the headboard shown in evidence photos during the trial of Conrad Murray.
Murray was convicted last week of involuntary manslaughter in Jackson's death.
The Jackson Estate asked that it be removed from the sale, and the auction house agreed.
The mattress from the bed was never for sale.
Other items from inside the Holmby Hills mansion where Jackson died will still be sold to the highest bidder.
Julien's Auctions will host a free exhibit of items from the Carolwood house at the company's Beverly Hills, Calif. headquarters beginning Dec. 12. The auction is set for Dec. 17.
The Associated Press contributed to this report.