We study the proton lifetime in the $SO(10)$ Grand Unified Theory (GUT), which has the left-right (LR) symmetric gauge theory below the GUT scale. In particular, we focus on the minimal model without the bi-doublet Higgs field in the LR symmetric model, which predicts the LR-breaking scale at around $10^{10text{--}12}$ GeV. The Wilson coefficients of the proton decay operators turn out to be considerably larger than those in the minimal $SU(5)$ GUT model especially when the Standard Model Yukawa interactions are generated by integrating out extra vector-like multiplets. As a result, we find that the proton lifetime can be within the reach of the Hyper-Kamiokande experiment even when the GUT gauge boson mass is in the $10^{16text{--}17}$ GeV range. We also show that the mass of the extra vector-like multiplets can be generated by the Peccei-Quinn symmetry breaking in a consistent way with the axion dark matter scenario.
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