Book signed by Livingstone is sold for pounds 2,3000.
The book, Missionary Travels and Researches in South Africa, was signed, 'To Thomas Lloyd Esq with the kindest regards of David Livingstone, London 2nd November 1857.'
Mr Lloyd was a member of the Lloyd's banking family, which sponsored Dr Livingstone on one of his many African expeditions.
A sponsor's copy, published by John Murray in 1857, the book was entered in the pounds 125,000 sale at Halls Fine Art in Shrewsbury by a descendant of Thomas Lloyd, who lives near Welshpool, in Powys.
The book, which was purchased by a private buyer from Shrewsbury includes a detailed map of Livingstone's route across Africa constructed from his astronomical observations, bearings and estimated distances, with sketches by J Arrowsmith.
Halls Fine Art director Richard Allen said he was delighted with the price paid for the book. 'It's a very nice thing to own,' he added.
Livingstone was a combination of missionary, doctor, explorer, scientist and anti-slavery activist. He spent 30 years in Africa, exploring almost a third of the continent.
He received a gold medal from the London Royal Geographical for being the first to cross the entire African continent from west to east and was the first white man to see Victoria Falls.
Following his death on April 30, 1872, his heart was buried in Africa as he had requested, but his body was buried in Westminster Abbey.
Another star of the successful sale was a mahogany triple breakfront library bookcase from a Welshpool vendor, which exceeded its estimate to sell for nearly pounds 7,000.
A rare 16th Century earthenware thumb watering pot, believed to be the earliest form of watering pot made in Britain, exceeded its estimate to sell for pounds 3,450 and the day's top price of pounds 8,600 went to a George III ebonised bracket clock, dated 1775, by Allam and Clements, London.