The Changes rapper was found guilty of first-degree sexual abuse in 1995 and served nine months of his sentence at Clinton Correctional Facility in New York.
Tupac’s ID features his mugshot, signature and inmate number as well as other personal details such as his date of birth, weight, hair colour, eye colour and height.
The popular rapper was required to wear the laminated ID at all times around the prison.
According to TMZ, memorabilia company Heritage Auctions will start the bidding at $2,000 (£1,500) for the late rappers ID.
Bidding for the prison ID stars on July 1 and has been estimated to reach between $4,000 (£3,100) and $6,000 (£4,700).
Just months after he was released from prison, Tupac died from multiple gunshot wounds.
In an iconic interview before his death, Tupac said: “I don’t see it as having a gangster, thug image.
“Thug life would be more accurate. But it’s not an image, it’s just a way of life, a mentality.
“I have taken time to reflect on it and my reflection, is that I don’t see it as being wrong, I just see it a stage we all go through.
“It’s just like that for white kids and little rich kids, they get to go to the military academy, they get to take all this energy and put it into the armed forces.
“But for a young Puerto Rican male, we got to put this in the streets.”
Justifying his past behaviour, the rapper said: “That’s what I did. I don’t think what I did was so evil, it was just the way that I was living and my mentality was a part of my progression to be a man.”