A search is reported for excited $\tau$-leptons and leptoquarks in events with two hadronically decaying $\tau$-leptons and two or more jets. The search uses proton-proton (pp) collision data at $\sqrt{s} = 13$ TeV recorded by the ATLAS experiment during the Run 2 of the Large Hadron Collider in 2015-2018. The total integrated luminosity is 139 fb$^{-1}$. The excited $\tau$-lepton is assumed to be produced and to decay via a four-fermion contact interaction into an ordinary $\tau$-lepton and a quark-antiquark pair. The leptoquarks are assumed to be produced in pairs via the strong interaction, and each leptoquark is assumed to couple to a charm or lighter quark and a $\tau$-lepton. No excess over the background prediction is observed. Excited $\tau$-leptons with masses below 2.8 TeV are excluded at 95% CL in scenarios with the contact interaction scale $\Lambda$ set to 10 TeV. At the extreme limit of model validity where $\Lambda$ is set equal to the excited $\tau$-lepton mass, excited $\tau$-leptons with masses below 4.6 TeV are excluded. Leptoquarks with masses below 1.3 TeV are excluded at 95% CL if their branching ratio to a charm quark and a $\tau$-lepton equals 1. The analysis does not exploit flavour-tagging in the signal region.