This was written by lead singer Doug Sahm and released in 1965, reaching No 13 in America and No 15 in Britain.
Here they get an endorsement from Bob Dylan:
And here Dylan performs it himself.
According to his website http://www.bobdylan.com/setlists/?id_song=27371 he did two live performances, one in 1988 and one in 2000, but I don’t know which one this was.