“It is indeed a matter of great difficulty to discover, and effectually to distinguish, the true motions of particular bodies from the apparent; because the parts of that immovable space, in which those motions are performed, do by no means come under the observation of our senses. Yet the thing is not altogether desperate; for we have some arguments to guide us, partly from the apparent motions, which are the differences of the true motions; partly from the forces, which are the causes and effects of the true motions.”

Preface, translation in William Whewell's History of the Inductive Sciences http://books.google.com/books?id=vlQEAAAAQAAJ (1837)
Philosophiae Naturalis Principia Mathematica (1687)

I. Bernard Cohen's thesis: Galileo believed only circular (not straight line) motion may be conserved (perpetual), see The New Birth of Physics (1960).
Sagredo, Day Four, Stillman Drake translation (1974) pp.283-284
Dialogues and Mathematical Demonstrations Concerning Two New Sciences (1638)

End of Ch. 10<!-- quoted in The Advancement of Science, and Its Burdens (1986) by p. 232 -->; the "Congregation of the Index" (the official inquisition censors) declared<!-- on 15 May 1620 --> that the last sentence of this statement was one of eleven passages which should be removed from the work, in this case because it was perceived as implying that God designed things in accord with the Copernican system, rather than that of Ptolemy.
De revolutionibus orbium coelestium (1543)
Context: The forward and backward arcs appear greater in Jupiter than in Saturn and smaller than in Mars, and on the other hand greater in Venus than in Mercury. This reversal in direction appears more frequently in Saturn than in Jupiter, and also more rarely in Mars and Venus than in Mercury. Moreover, when Saturn, Jupiter, and Mars rise at sunset, they are nearer to the earth than when they set in the evening or appear at a later hour. But Mars in particular, when it shines all night, seems to equal Jupiter in size, being distinguished only by its reddish color. Yet in the other configurations it is found barely among the stars of the second magnitude, being recognized by those who track it with assiduous observations. All these phenomena proceed from the same cause, which is the earth's motion.
Yet none of these phenomena appears in the fixed stars. This proves their immense height, which makes even the sphere of the annual motion, or its reflection, vanish from before our eyes. For, every visible object has some measure of distance beyond which it is no longer seen, as is demonstrated in optics. From Saturn, the highest of the planets, to the sphere of the fixed stars there is an additional gap of the largest size. This is shown by the twinkling lights of the stars. By this token in particular they are distinguished from the planets, for there had to be a very great difference between what moves and what does not move. So vast, without any question, is the divine handiwork of the most excellent Almighty.

Letter to Thomas Barton (Jan 28, 1767) as quoted by Florian Cajori, The Teaching and History of Mathematics in the United States (1890) p. 39.

As quoted by Bryant, ibid.
Astronomia nova (1609)

Book III, Ch. I, pp. 137-147.
Physics

A note on this statement is included by Stillman Drake in his Galileo at Work, His Scientific Biography (1981): Galileo adhered to this position in his Dialogue at least as to the "integral bodies of the universe." by which he meant stars and planets, here called "parts of the universe." But he did not attempt to explain the planetary motions on any mechanical basis, nor does this argument from "best arrangement" have any bearing on inertial motion, which to Galileo was indifference to motion and rest and not a tendency to move, either circularly or straight.
Letter to Francesco Ingoli (1624)

Attempt to Prove the Motion of the Earth https://books.google.com/books?id=JgtPAAAAcAAJ (1674) pp. 27-28, read to the Royal Society 1671, written 1670. Inserted comment (in italics) by John Aubrey, Brief Lives. Note: this statement precedes the publication of Newton's Principia by near 20 years.
Context: I should here have described some Clocks and Time-keepers of great use, nay absolute necessity in these and many other Astronomical observations, but that I reserve them for some attempts that are hereafter to follow, about the various wayes I have tryed, not without good success of improving Clocks and Watches and adapting them for various uses, as for accurating Astronomy, completing the Tables of the fixt stars to Seconds, discovery of Longitude, regulating Navigation and Geography, detecting the properties and effects of motions for promoting secret and swift conveyance and correspondence, and many other considerable scrutinies of nature: And shall only for the present hint that I have in some of my foregoing observations discovered some new Motions even in the Earth it self, which perhaps were not dreamt of before, which I shall hereafter more at large describe, when further tryalls have more fully confirmed and compleated these beginnings. At which time also I shall explaine a Systeme of the World, differing in many particulars from any yet known, answering in all things to the common Rules of Mechanicall Motions: This depends upon three Suppositions. First, that all Cœlestial Bodies whatsoever, have an attraction or gravitating power towards their own Centers, whereby they attract not only their own parts, and keep them, from flying from them, as we may observe the Earth to do, but that they do also attract all the other Cœlestial Bodies that are within the sphere of their activity; and consequently that not only the Sun and the Moon have an influence upon the body and motion of the Earth, and the Earth upon them, but that Mercury also, Venus, Mars, Saturne, and Jupiter by their attractive powers, have a considerable influence upon its motion as in the same manner the corresponding attractive power of the Earth hath a considerable influence upon every one of their motions also. The second supposition is this, That all bodys whatsoever that are put into direct and simple motion, will so continue to move forward in a streight line, till they are by some other effectual powers deflected and bent into a Motion describing a Circle, Ellipsis, or some other more compounded Curve Line. The third supposition is, That these attractive powers are so much the more powerful in operating, by how much nearer the body wrought upon is to their own Centers. Now what these several degrees are I have not yet experimentally verified;'—But these degrees and proportions of the power of attraction in the celestiall bodys and motions, were communicated to Mr. Newton by R. Hooke in the yeare 1678, by letters, as will plainely appear both by the coppys of the said letters, and the letters of Mr. Newton in answer to them, which are both in the custody of the said R. H., both which also were read before the Royall Society at their publique meeting, as appears by the Journall book of the said Society.—'but it is a notion which if fully prosecuted as it ought to be, will mightily assist the astronomer to reduce all the Cœlestiall motions to a certaine rule, which I doubt will never be done true without it. He that understands the natures of the Circular Pendulum and Circular Motion, will easily understand the whole ground of this Principle, and will know where to find direction in nature for the true stating thereof. This I only hint at present to such as have ability and opportunity of prosecuting this Inquiry, and are not wanting of Industry for observing and calculating, wishing heartily such may be found, having my self many other things in hand which I would first compleat, and therefore cannot so well attend it. But this I durst promise the Undertaker, that he will find all the great Motions of the World to be influenced by this Principle, and that the true understanding thereof will be the true perfection of Astronomy.

p, 125
Geometrical Lectures (1735)