The donation comes two weeks before the release of "Rocky Balboa" -- the sixth "Rocky" film. It also coincides with the release of a special edition "Rocky" DVD, the Baltimore Sun reported.
The 60-year-old actor said the immense success of the film franchise, which launched in 1976, was due to its emotional connection to everyone.
"Rocky is part of everybody. I don't claim ownership anymore," Stallone said. "The reason the story worked is because all of us have a need to feel fulfillment in their life. And that battle never ends. That's why I put it in the body of a boxer."
The paper said the donated items, which include the actor's robe from the first film, will be displayed in the museum's Treasures of American History exhibit on Dec. 21 -- one day after "Rocky Balboa" hits theaters.