The suit claims that Dr. Conrad Murray was negligent in administering the drug to Jackson.
Joe Jackson is seeking unspecified damages against Murray, who has pleaded not guilty in a separate criminal case to involuntary manslaughter in the singer's death.
The singer's father initially filed the case in a federal court, but a judge dismissed it, saying it needed to be handled in a state court.
The Los Angeles County coroner said Jackson died of propofol intoxication and ruled his June 2009 death a homicide.
The Associated Press Contributed to this report.
