A new musical set to the songs of Bob Dylan has left critics disappointed and fans disillusioned with the iconic musician's decision to allow his songs to be set on the stage.

"The Times They Are A-Changin'", which made its Broadway debut on Thursday night, was conceived and choreographed by Twyla Tharp, who transformed Billy Joel's songs into the Tony-award winning "Movin' Out" which enjoyed a successful three-year run on Broadway.

But reviews for the Dylan show found critics saying Tharp's concept, which presents Dylan's songs as a fable about a struggling circus, did little justice to the vivid imagery of the musician's lyrics.

"Mr. Dylan is one of the greatest songwriters of the postwar era and Ms. Tharp one of its most admired choreographers, so how bad could it be," wrote The Wall Street Journal's Terry Teachout. "Now I know: 'The Times They Are A-Changin' is so bad that it makes you forget how good the songs are."

The New York Post mocked the show with a headline that said "Knock, knock, knockin' on heaven help us door", playing on the title of one of Dylan's most famed songs.

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