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Members of the group have included Billy Gibbons and the late Dusty Hill. When Hill died in 2021, the group carried on performing with Elwood Francis as its bassist.
"Today, Elwood and I lost a great friend and collaborator, and the world lost one of the most naturally innovative drummers and a great and true son of Texas," Gibbons said.
"His signature backbeat was key to keeping ZZ on top. The band of which he was part for six decades is going to keep on keeping on as he had wished," he said.
ZZ Top, which was inducted into the Rock and Roll Hall of Fame in 2004, has continued touring throughout North America, Europe and South America.
Shows the group called off after Beard's death had been scheduled in Salt Lake City, Utah, on Monday and in Colorado Springs, Colorado, on Wednesday.
The group said it plans to resume its current The Big One! Tour over the weekend, with two dates at Austin City Limits, which the band said was one of Beard's favourite venues in "a city that had been something of a second home for him".
