Its called freedom of speech/expression. Article 19 of the universal declaration of human rights uses very similar words
"Everyone has the right to freedom of opinion and expression; this right includes freedom to hold opinions without interference..."
The idea is pretty traceable through the middle ages with also reference to ancient greece and rome often given. However it holds less weight now as it has been brought to bear by problematic issues of slander/libel and also threats of violence particularly but also by state issues (sedition/blasphemy/obscenity/state secrets etc.). Today even pure 'offense' is more and more considered outside of freedom of expression.
Probably the truest implementation however is in english parliament which has had defined freedom of speech dating back to their middle ages bill of rights. This hasnt been fettered in the same way.