Grammar is the computational system of language. It is a set of rules that speci"es how to construct sentences out of words. Grammar is the basis of the unlimited expressibility of human language. Children acquire the grammar of their native language without formal education simply by hearing a number of sample sentences. Children could not solve this learning task if they did not have some pre-formed expectations. In other words, children have to evaluate the sample sentences and choose one grammar out of a limited set of candidate grammars. The restricted search space and the mechanism which allows to evaluate the sample sentences is called universal grammar. Universal grammar cannot be learned; it must be in place when the learning process starts. In this paper, we design a mathematical theory that places the problem of language acquisition into an evolutionary context. We formulate equations for the population dynamics of communication and grammar learning. We ask how accurate children have to learn the grammar of their parents' language for a population of individuals to evolve and maintain a coherent grammatical system. It turns out that there is a maximum error tolerance for which a predominant grammar is stable. We calculate the maximum size of the search space that is compatible with coherent communication in a population. Thus, we specify the conditions for the evolution of universal grammar.