Fifth Theory.—This is our theory, or that of our Law.... The theory of man's perfectly free will is one of the fundamental principles of the Law of our teacher Moses, and of those who follow the Law. According to this principle man does what is in his power to do, by his nature, his choice, and his will; and his action is not due to any faculty created for the purpose. All species of irrational animals likewise move by their own free will. This is the Will of God; that is to say, it is due to the eternal divine will that all living beings should move freely, and that man should have the power to act according to his will or choice within the limits of his capacity.
Ch.17 - Guide for the Perplexed (c. 1190) - Part III