Soil, rocks and rock masses dilate or compact when sheared, i.e., distortion necessitates volume change. This coupling between distortional strains and volumetric strains, described by stress–dilatancy theories, endows soils with manifestation of peculiar characteristics when they are subjected to shear. Stress–dilatancy theories have become central in describing the mechanical energy dissipation mechanism and further establishing flow rules in constitutive modelling of soils. The classical stress–dilatancy theories, such as Taylor's and Rowe's, are endowed with simplicity and descriptive power, but they were developed for describing the dilatancy behaviour of soils subjected to loading in shear (mobilizing away from isotropic stress state) and needed to be extended for describing plastic dissipation and shear-induced volumetric changes when soils are subjected to cyclic shear. In this paper, hypothesis of complementarity of stress–dilatancy conjugates is proposed as a unifying hypothesis for deriving stress–dilatancy relations for both loading in shear and unloading in shear. Then, plastic potential functions are derived based on the resulting stress–dilatancy relations. In so doing, the resulting stress–dilatancy relations and plastic potential functions are rendered with a quality to be used for the modelling of deformation behavior of soils subjected to both monotonic and cyclic shearing. The theoretical framework is applied first for plane strain and axisymmetric stress–strain conditions; and then extended for the general stress condition considering the Lode angle dependency of the shear strength of soils, using the multilaminate framework and applying the Matsuoka–Nakai spatial mobilized plane.