In this work, we consider the emergent origin of gravity in the framework of Hamilton–Randers theory, a theoretical framework for emergent quantum mechanics. After presenting the essential ingredients of the theory, a derivation of the weak equivalence principle from the first principles of the theory follows. Then it is shown that the Newtonian model of gravity and certain modified gravity models are consistent with Hamilton–Randers theory. One of these models has strong formal resemblance with MOND, providing further ground to think that Hamilton–Randers theory could be a natural theoretical frame for realistic modified gravity models.