Beauchamp's rapid rise from esquire to baron could not be borne by the Lords Appellant, who included his kinsman, Thomas Beauchamp, 12th Earl of Warwick. The latter probably saw the rise of his cousin as a threat to his dominance of the Midlands.
Arrested and imprisoned along with three other household knights, Lord Beauchamp was impeached in the Merciless Parliament and condemned by the lords for treason. He was beheaded on Tower Hill on 12 May 1388 and was buried in Worcester Cathedral.