The laws of gravitational force were formulated by Sir Isaac Newton in his book Philosophiæ Naturalis Principia Mathematica (Mathematical Principles of Natural Philosophy), published in 1687.

While Newton's work established the foundation for understanding gravity, it's important to note that he built upon the work of earlier scientists like Johannes Kepler who discovered the laws of planetary motion, and Galileo Galilei who made significant contributions to understanding the motion of objects on Earth.