The memoir is peppered with references to other celebrities - from Johnny Depp to John Lennon - but it is the prickly dynamic between Richards and Jagger that dominates the 527-page book, which is to be serialised in The Times newspaper.
Richards, 66, who met Jagger at the age of 4, says he has not stepped foot in Jagger's dressing room in 20 years.
"It was the beginning of the Eighties when Mick started to become unbearable," Richards writes in the memoir, Life, which brought him an advance of £4.8m after a massive bidding war among publishers.
Richards and Jagger were two of the Stones' founding members in 1962 and wrote its hit songs, leading the group to sales of more than 200 million albums worldwide.
"Sometimes I think: 'I miss my friend'," Richards writes. "I wonder: 'where did he go?'"
But Richards told the Times that his bandmate had read the book and wanted to take out only one thing - a reference to Jagger using a voice coach.
Richards refused, saying: "I'm trying to say the truth here."
He added about Jagger: "We've had our beefs but, hey, who doesn't? You try and keep something together for 50 years," adding the band was considering going on tour again.
"I think it's going to happen. I've had a chat with ... Her Majesty. Brenda."
The band's last tour ended in August 2007, sparking the customary speculation that there would be no more.