The book – Of Thee I Sing: A Letter To My Daughters – was written before Mr Obama took office in January 2009.
The 40-page book pays tribute to 13 Americans, from the first President George Washington to baseball legend Jackie Robinson.
Mr Obama has already published two books which have become best-sellers.
The cover of his new book is an illustration of his two daughters, Sasha and Malia, walking their dog Bo.
Proceeds from the book are to go to a scholarship fund for the children of soldiers killed and disabled in wars.