Beekman is located in the southeastern end of Dutchess County, about 60 minutes north of New York City. The town has a total area of 30.3 square miles, of which 30.0 square miles is land and 0.3 square miles is water.
Although Beekman has no major highways, it does have 2 major thoroughfares. Route 55 crosses from the Pawling town line to the Union Vale town line and is a direct route into the City of Poughkeepsie. Route 216 goes from Route 55 into the town of East Fishkill where it meets up with Route 52.
It is approximately 37 miles from White Plains airport, and about an hour drive to the major airports of New York City.