We present the first unquenched lattice-QCD calculation of the hadronic form factors for the exclusive decay $\overline{B} → D \ell \overline{\nu}$ at nonzero recoil. We carry out numerical simulations on fourteen ensembles of gauge-field configurations generated with 2+1 flavors of asqtad-improved staggered sea quarks. The ensembles encompass a wide range of lattice spacings (approximately 0.045 to 0.12 fm) and ratios of light (up and down) to strange sea-quark masses ranging from 0.05 to 0.4. For the $b$ and $c$ valence quarks we use improved Wilson fermions with the Fermilab interpretation, while for the light valence quarks we use asqtad-improved staggered fermions. We extrapolate our results to the physical point using rooted staggered heavy-light meson chiral perturbation theory. We then parameterize the form factors and extend them to the full kinematic range using model-independent functions based on analyticity and unitarity. We present our final results for $f_+(q^2)$ and $f_0(q^2)$, including statistical and systematic errors, as coefficients of a series in the variable $z$ and the covariance matrix between these coefficients. We then fit the lattice form-factor data jointly with the experimentally measured differential decay rate from BaBar to determine the CKM matrix element, $|V_{cb}|=(39.6 ± 1.7_{\rm QCD+exp} ± 0.2_{\rm QED})\times 10^{-3}$. As a byproduct of the joint fit we obtain the form factors with improved precision at large recoil. Finally, we use them to update our calculation of the ratio $R(D)$ in the Standard Model, which yields $R(D) = 0.299(11)$. ; Comment: 47 pages, 32 figures