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Newton's Law of Gravitation states that the Force of Gravity between two objects is equal to the Gravitational Constant times product of the masses of the two objects, divided by the square of the distance between them.

The Gravitational Constant is around 0.00000000006 (or 6 x 10 to the power of minus 11), and its symbol is G

m1 is the mass of one object

m2 is the mass of the other object

d is the distance between them

F is the Force between the two objects

so:

F = (G x m1 x m2) / (d x d)

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Newton's law of universal gravitation is generally what is used to calculate the force of gravity between two objects. Note that this equation does not work when dealing with the force of gravity in very massive, dense objects (eg. black holes, neutron stars); for those situations you must go to Einstein's theory of general relativity.

from Wikipedia:

F = G*((m1*m2)/r2)

  • F is the magnitude of the gravitational force between the two point masses,
  • G is the gravitational constant, 6.674×10−11 N m2 kg−2
  • m1 is the mass of the first point mass,
  • m2 is the mass of the second point mass, and
  • r is the distance between the two point masses.
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