1

They beat him till he fell to his knees.
They beat him till he fell on his knees.

What's the difference between the two? Are both of them grammatically correct?

1

I would use:

They beat him till he fell to his knees.

since it is an ending state that is kneeling.

A better example of using on might be:

He lost his grip and fell on his knees.

where the meaning is actually falling and striking his knees.

0

If you are talking about the idiom, the FreeDictionaries says that both are correct.

fall on one's knees and fall to one's knees

means -

to kneel down, usually in respect.

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