Beaufort died at Badminton on 21 January 1700. He was buried in the Beaufort Chapel in St. George's, Windsor, where an elaborate monument was set up to his memory; it was moved in 1878 to Badminton. Within St Michael and All Angels Church, Badminton, this monument by Grinling Gibbons is now on the North side of the chancel and consists of an effigy of the Duke in Garter robes, reclining on a sarcophagus and a plinth with relief of St George and the Dragon. There are twin Corinthian columns with embossed shafts, acanthus frieze, cornice with flaming urns, and the Duke's arms and supporters. At the top, 25 ft from the ground, is a tasseled cushion supporting a coronet; on the plinth are full-length female figures of Justice and Truth. Above the Duke's effigy, parted curtains show the heavenly host with palms and crowns. The Latin inscription displays the names of his family and the many offices he held.