Dependency Walker is a popular tool on Windows to view the dependent modules of a EXE or DLL file. ELF Library Viewer is a similar program for Linux. It shows the tree of shared libraries that a program or shared library is dependent on.
The source code of ELF Library Viewer can be downloaded here. It can be compiled easily by typing cmake followed by make.
Tried with: ELF Library Viewer 0.9 and Ubuntu 12.04 LTS