1927, imitative of automobile horns (originally of the sound of a certain type of automobile horn, one among several in the years after the klaxon horn first was brought into use c. 1910). Used as a noun and verb by 1929. Related: Beeped; beeping.
beehive
beek
bee-line
Beelzebub
been
beep
beeper
beer
beery
bee-sting
beestings