The Kennicutt-Schmidt law is an empirical relation between the star formation rate surface density (Σ SFR ) and the gas surface density (Σ gas ) in disc galaxies. The relation has a power-law form Σ SFR ∝ Σ 𝑛 gas . Assuming that star formation results from gravitational collapse of the interstellar medium, Σ SFR can be determined by dividing Σ gas by the local free-fall time 𝑡 ff . The formulation of 𝑡 ff yields the relation between Σ SFR and Σ gas , assuming that a constant fraction (𝜀 SFE ) of gas is converted into stars every 𝑡 ff . This is done here for the first time using Milgromian dynamics (MOND). Using linear stability analysis of a uniformly rotating thin disc, it is possible to determine the size of a collapsing perturbation within it. This lets us evaluate the sizes and masses of clouds (and their 𝑡 ff ) as a function of Σ gas and the rotation curve. We analytically derive the relation Σ SFR ∝ Σ 𝑛 gas both in Newtonian and Milgromian dynamics, finding that 𝑛 = 1.4. The difference between the two cases is a change only to the constant pre-factor, resulting in increased Σ SFR of up to 25% using MOND in the central regions of dwarf galaxies. Due to the enhanced role of disk self-gravity, star formation extends out to larger galactocentric radii than in Newtonian gravity, with the clouds being larger. In MOND, a nearly exact representation of the present-day main sequence of galaxies is obtained if 𝜖 SFE = constant ≈ 1.1%. We also show that empirically found correction terms to the Kennicutt-Schmidt law are included in the here presented relations. Furthermore, we determine that if star formation is possible, then the temperature only affects Σ SFR by at most a factor of √ 2.