There's no permission that directly governs viewing history. You can modify the Wikis - History widget to either hide it or display a different message if the user is not, for example, a group owner or manager. You can also modify the Wiki - Page widget in a similar way to hide the link to History for unprivileged users - however, the history page can still be reached simply by appending "/history" to the current wiki page.
Which version of Community are you using? If you are on v12.x, you might look into using Articles instead of Wikis - they provide more functionality in general, but also the History view is tied to the Edit Article permission, so the view is restricted to only those with Edit Article permission.
