I've heard about it, but I don't think I've seen it or heard it recited. According to the Star Fleet manual, specifically, how is the Prime Directive worded?
Believe it or not, there has never been an official Starfleet Officer's Manual book published by Paramount. The books that carry the "Official Trek" moniker have always focused primarily on the ships, technology and aliens rather than the crew who man the ships, work the technology and make
sweet love to first contact with the aliens.
Probably the closest semi-canon manual that references the Prime Directive is the USS Enterprise Officer's Manual (written by Geoffrey Mandel (later Production Designer for Voyager and Enterprise) and Doug Drexler (later Production Designer for TNG, Voyager and Enterprise). In it we see almost exactly the same wording offered by Kirk in TOS: Bread and Circuses
No identification of self or mission. No interference with the social development of said planet. No references to space or the fact that there are other worlds or civilizations.
TOS: Bread and Circuses
When contacting a planet making normal progress toward a technological civilization, an officer of Starfleet shall make no identification of self or mission; no interference with social development of said planet; no references to space, to other worlds or more advanced civilizations.
USS Enterprise Officer's Manual
That all being said, in Voy: Infinite Regress we see that this simple three line principle is only the tip of the iceberg when it comes to the Prime Directive;
NAOMI: That's okay. I'll be pretty busy by then. Want to hear the rules of First Contact?
NAOMI: How about the suborders of the Prime Directive? I know all forty seven of them.