STORY: The 47-year-old former Manchester United and Real Madrid midfielder and current co-owner of American Major League Soccer team Inter Miami, told reporters he had joined the queue at 2.15 a.m. (0115 GMT).
Television footage of Westminster Hall showed Beckham, who met the queen several times during her 70-year reign, looking tearful as he waited to file past her coffin.
Stopping to pay his respects by the coffin at around 3.25 p.m, Beckham bowed his head and closed his eyes momentarily.
Last week Beckham posted on Instagram that he was "truly saddened" by the queen's death.
"How devastated we all feel today shows what she meant to people in this country and around the world. How much she inspired us with her leadership. How she comforted us when times were tough," he wrote.