As it was already pointed out, civilization as we know it will never surface. The Indo-european tribes, will likely never make it out of Ukraine. The afro-asiatic farmers that brought faming into Europe, and the Near East will likely expand further as would the Sinic rice farmers. All groups will be less heterogenous as travel will be much more difficult, for those who are not near a coast or large river system.
The American civilizations pre colonization provide a good model for what the world would look like. Peoples with access to reliable pack animals like the llama, will be able to create uniform empires that stretch quite a bit just like the Inca did- though never something like the Mongols did in OTL with the assistance of the horse. But I think most will resemble the Maya city-state organization or city-empire/kingdom ala Aztec or Tarascan style. Even if the discovery or iron-working is still made; they will have an old-world tinge to them but
Without the horses and camels, it is also likely that the domestication of larger pack and herding animals will be harder or maybe not even come to be as well. And trade becomes much more difficult, especially across deserts without camels. Assume people remain much more isolated from each other. Once again the Americas provide the good model, where the Meso-american peoples had very little-to-no contact with the South American or the Mississippian cultures.
This means there will be a lot less cross cultural fertilization. And as a consequence, progress will be slower.
I'd would also expect that the need for more human of labor to create much more caste based societies (this pretty much happened in the American civilizations).
No everything will be the same as the Americas though, lets assume iron-working and casting is still developed in the old world. This alone will make things very different from OTL American civilizations. And once sea faring gets sufficiently advance, we can expect a much large emphasis on it and push to further maritime / river trade. After all I'd expect the big land routes like the silk road between and trans-saharan / sahel routes to be very limited here.
You know for all the "Americas domesticates" TLs here, the board could use a "Eurasia non-domesticate" counterpart.