Haskell derives in his great work Maxwell's equations from Coulomb's law and the formalism of special relativity: http://richardhaskell.com/files/Special%20Relativity%20and%20Maxwells%20Equations.pdf
(And by doing so answers this question.)
Intuitively, this may be understood as follows: If we have a number of reference frames in which the respective source charges are at rest, then these reference frames may move with different relative velocities with respect to another frame and thus the charges appear to fly by that frame with a constant velocity creating the effects described by the dynamic laws of electrodynamics.
In particular, if there happens to be a static electric field $E_k'$ in a frame moving with relative velocity $u_i=ua_i$, where $a_i$ are the components of the unit vector of the velocity, then the magnetic field in the frame in which the charges move by with constant speed is given by $B_i:= \gamma u/c^2 \epsilon_{ijk}a_jE_k'$ where $\gamma=1/\sqrt{1-u^2/c^2}$. This is a definition of the magnetic field in terms of the static electric field and the relative velocity to its corresponding frame.
However, even though Maxwell's equations come out if one defines the magnetic field like this, I wonder whether this is the most general form that a magnetic field can have. What happens if the source charges are accelerated? If they are accelerated by gravity, then one can use Maxwell's equations in curved spacetime. But what if the acceleration happens due to electromagnetic forces? Then a Lorentz transformation which always only involves constant relative velocities can not account for describing the resulting magnetic field of this accelerated charge. Consequently, the magnetic field probably can not be defined as above. Would Maxwell's equations nevertheless be valid?
If not, the question is how Maxwell's equations would have to be changed in order to describe accelerated source charges (note that the usual Maxwell theory has no problems with describing accelerated test charges which amounts e.g. to the idealised concept of an accelerated charge in an electric or magnetic field created by non-accelerated source charges, etc).
Haskell also discusses this question at the end of the document and considers the possibility that the amendment could consist of a non-linear power-series but he does not come to a definite conclusion.
"describe accelerated test charges, i.e. charges that react to the force of fields from sources that need not be accelerated, and that is a difference to describing effects where you include acceleration of these sources as well" You've got that backwards. It is the field generation due to charge and current density that Maxwell's equations describe (successfully), the behaviour of test charges is captured only partially by them; the Lorentz force formula is needed in addition to formulate equations of motion of test charges.
– Ján Lalinský Nov 30 '17 at 11:12"the superposition of two frames moving in opposite direction is also a solution of Lorentz-transformed static fields." What is "superposition of two frames"?
– Ján Lalinský Nov 30 '17 at 11:15