For accessing the MS SQL Server database Sqoop requires an additional JDBC driver which can be downloaded from Microsoft. The following steps will install MSSQL Server JDBC driver to Sqoop:
wget 'http://download.microsoft.com/download/0/2/A/02AAE597-3865-456C-AE7F-613F99F850A8/sqljdbc_4.0.2206.100_enu.tar.gz'
tar -xvzf sqljdbc_4
cp sqljdbc_4.0/enu/sqljdbc4.jar /usr/hdp/current/sqoop-server/lib/