The queen-size piece is among hundreds of items from the Holmby Hills mansion that are set to hit the auction block.
Various antique furnishings and paintings also will be sold off by Julien's Auctions on Dec. 17.
Jackson lived at the Carolwood Drive home with his three children from December 2008 until his death on June 25, 2009.
The 54,885-square-foot home is up for sale separately for an undisclosed price. Similar homes in the area are listed at $18 million and up.
The house has six bedrooms and 10 fireplaces. It also has a wine cellar, fitness center and formal dining and sitting rooms.
There's still a note from one of his children that reads "I (heart) Daddy" on a chalkboard inside the kitchen. The chalkboard will be sold as-is, and is expected to fetch more than $400.
Highlights from the furnishings sale will be on view at a free exhibition at Julien's Auctions in Beverly Hills beginning Dec. 12.
The Associated Press contributed to this report.