The former England footballer was spotted on Friday joining the long queue of mourners waiting their turn to pay their respects to the Queen at around 2am, finally making it into Westminster Hall in the afternoon.
Beckham, 47, looked tearful as he left and explained to press why he had wanted to wait to see the coffin along with many others doing the same thing.
He said: “It is emotional for everybody involved. Her Majesty was someone special and will be missed just by everyone.”
Beckham was made an OBE in 2003 and received the honour for his services to football, and over the years has been involved in the Queen’s Young Leader Award, which was established in 2014, as well as appearing at royal events including the now Prince and Princess of Wales, William and Kate's, wedding.
He said: “Anytime throughout my career I’ve been asked to do anything regarding the royal family, her majesty, the princes, our King now, I have always been very willing to do that.
“I grew up in a family that were royalists.
“Today I think back to my grandparents because if my grandparents were alive they would have been here, so it’s nice to be here to celebrate with everybody the life of her majesty and her legacy that she leaves.”
When asked how he felt about sporing events, including football matches, being cancelled last week after the Queen's death on 8 September, he talked about his pride at having represented her on the pitch as England captain during his career.
He said: “There should always be respect paid to our Queen in the country in this time of mourning but speaking as an ex-football player and an ex-England captain I know what it meant for us to step out on that field to represent our Queen and our country and the three lions.
“And when we are out there it gives us the opportunity to celebrate in a way that only football can and only football fans can.”
Other well-known faces seen queuing to view the lying in state this week have included Susanna Reid, Phillip Schofield and Holly Willoughby.
Watch: David Beckham queues to pay respects to the Queen's coffin