First, We need to add Spring Security Core Plugin as a dependency:
/build.gradle
compile 'org.grails.plugins:spring-security-core:3.2.0.M1'
Then,
There are two ways to override auth.gsp. By creating manually Controller and gsp or by using spring-security-ui plugin.
I have used second way to generate custom login page:
First, We need to add Spring Security Core Plugin as a dependency:
/build.gradle
compile 'org.grails.plugins:spring-security-core:3.2.0.M1'
Use s2-quickstart to generate the default Spring Security Core domain classes:
grails s2-quickstart demo User Role
s2-quickstart script generates three domain classes; User, Role and UserRole.
Then install Grails spring-security-ui plugin from here
use grails s2ui-override auth command to override the login/auth.gsp form (this will create the login form so that you override it).
Note: This command will not create controller. It create view at path login/auth.gsp
Use grails s2ui-override layout to override the layouts for the form(this will create the springSecurityUI.gsp layout so that you override it)

References: enter link description here
Note: Please check plugin documentation as per your grails version.
Hope this will helps you.