Stress environments promote lactic acid bacteria (LAB) biofilm formation. Therefore, this study assessed the ability of Lactobacillus rhamnosus (L. rhamnosus) Gr18 to form biofilm in stress conditions. An Mn2+-deficient environment exhibited the most significant biofilm content increase of 27.9% compared to the normal conditions. Two key phases were selected to elucidate the regulatory mechanisms behind biofilm formation in Mn2+-deficient environments. Gene Ontology (GO) and Kyoto Encyclopedia of Genes and Genomes (KEGG) enrichment analyzes, identified 368 significantly up-regulated and 413 substantially down-regulated genes during the attachment phase, suggesting that L. rhamnosus Gr18 facilitated the transition from the planktonic to the biofilm state by increasing EPS and lipid synthesis via the modulation of the LuxS/AI-2 and, SHP/Rgg pathway, fatty acid biosynthesis, ABC transporters and phosphatase system (PTS). Furthermore, 441 up-regulated genes and 162 down-regulated genes displayed significant changes during the maturation phase. LuxS/AI-2, ABC transporters, PTS, and NprX-NprR regulated lipopeptide production, which increased the extracellular matrix content and intercellular adhesion, leading to biofilm maturation. Therefore, L. rhamnosus Gr18 promoted biofilm formation by altering the extracellular matrix content, adhesion, and motility in Mn2+-deficient environments. This study provided a theoretical basis for improving LAB utilization for commercial production.