The title of Duke of Beaufort in the Peerage of England was created by Charles II in 1682 for Henry Somerset, 3rd Marquess of Worcester, a descendant of Charles Somerset, 1st Earl of Worcester, illegitimate son of Henry Beaufort, 3rd Duke of Somerset, a Lancastrian leader in the Wars of the Roses.

The Duke of Beaufort holds several subsidiary titles: Marquess of Worcester (created 1642), Earl of Worcester (1514), Baron Herbert of Raglan (1506) and 'Baron Herbert of Herbert (1509. The title Marquess of Worcester is used as a courtesy title of the Duke's eldest son and heir. The title Earl of Glamorgan is used by the eldest son of the heir-apparent to the Dukedom. Earl of Glamorgan's eldest son is known as Viscount Grosmont. Neither title, however, appears to rest on any actual creation. All subsidiary titles are in the peerage of England.

For the French title, see Duc de Beaufort.

Earls of Worcester (1514)

• Charles Somerset, 1st Earl of Worcester (c. 1450–1526)
• Henry Somerset, 2nd Earl of Worcester (c. 1495–1548)
• William Somerset, 3rd Earl of Worcester (d. 1589)
• Edward Somerset, 4th Earl of Worcester (1553–1628)
• Henry Somerset, 5th Earl of Worcester (1577–1646) (became Marquess of Worcester in 1643)

Marquesses of Worcester (1642)

• Henry Somerset, 1st Marquess of Worcester (1577–1646)
• Edward Somerset, 2nd Marquess of Worcester (1601–1667)
• Henry Somerset, 3rd Marquess of Worcester (1629–1700) (became Duke of Beaufort in 1682)

Dukes of Beaufort (1682)

• Henry Somerset, 1st Duke of Beaufort (1629–1700)
• Henry Somerset, 2nd Duke of Beaufort (1684–1714)
• Henry Somerset, 3rd Duke of Beaufort (1707–1745)
• Charles Noel Somerset, 4th Duke of Beaufort (1709–1756)
• Henry Somerset, 5th Duke of Beaufort (1744–1803)
• Henry Charles Somerset, 6th Duke of Beaufort (1766–1835)
• Henry Somerset, 7th Duke of Beaufort (1792–1853)
• Henry Charles Fitzroy Somerset, 8th Duke of Beaufort (1824–1899)
• Henry Adelbert Wellington Fitzroy Somerset, 9th Duke of Beaufort (1847–1924)
• Henry Hugh Arthur Somerset, 10th Duke of Beaufort (1900–1984)
• David Robert Somerset, 11th Duke of Beaufort (b. 1928)

Henry John FitzRoy Somerset, Marquess of Worcester (b. 1952) his son and heir.
Robert Somerset, Earl of Glamorgan (b. 1989) the Marquess's son and heir