The streets were packed with spectators as two groups of riders, one breakaway group and the main peloton, made its way through the historic town.
The competitors had already gone through Market Weighton via a number of villages across the Wolds and was heading to Cherry Burton, Lund and Bainton on the way to Norton before finishing in York.
Mayor of Beverley, Councillor Paul McGrath: “The town was really busy as expected.
One thing for certain - the viewing areas to see the Tour de Yorkshire cyclists would have been second to none. Beverley is an easy place to watch these type of event, as we have experienced in the past.
“When you actually see the riders close up you really appreciate how fast they are going and how close they are together. It’s an amazing spectacle.
“Thousands of people got the chance to see this in our town.
“The media coverage also helps raise the profile of Beverley and the wider area, which can only be a positive thing.
“The race is fantastic for the town, it really is. The Town Council contributed some funds towards the painted bicycles, and the children did a great job with them.
“On a personal note, myself and a friend used to go and watch the Milk Race years ago at Chimney Bank in North Yorkshire so I know how good these cyclists really are.”