The universal law of gravitation was developed by Sir Isaac Newton. He published his theory in his book *Philosophiæ Naturalis Principia Mathematica* in 1687.

While Newton is credited with the law, it's important to note that his work built upon the ideas of earlier scientists, including:

* Johannes Kepler: Kepler's laws of planetary motion provided the observational foundation for Newton's theory.

* Galileo Galilei: Galileo's work on motion and falling bodies provided the experimental framework for Newton's ideas.

Newton's law of gravitation is considered one of the most significant scientific discoveries of all time. It explained a wide range of phenomena, from the motion of planets to the tides on Earth.