If vector F21 is the force exerted on charge q2 by charge q1 (Fig.),
Vector  F21 = k q1 q2 / (r12)^2     (r12 cap)
where unit vector r 12 cap is the unit vector  from q1 to q2.
If vector F12 is the force exerted on q1 due to q2,
Vector  F12 = k q1 q2 / (r21)^2     (r21 cap)
where unit vector r 21 cap is the unit vector  from q2 to q1.                           
                        Fig. Coulomb’s law in vector form                                [Both unit vector u r 21 and r 12 have the same magnitude, and are oppositely directed]
      Vector F12 = k q1 q2 / (r12)^2     (-r12 cap)
or   Vector F12 = - k q1 q2 / (r12)^2     (r12 cap)
or   Vector F12 = -Vector F21
So, the forces exerted by charges on each other are equal in magnitude and opposite in direction.
Note :
A torsion balance is a sensitive device to measure force. It was also used later by Cavendish to measure the very feeble gravitational force between two objects, to verify Newton’s Law of Gravitation.