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Abstract We describe the measurement and treatment of the telescope beams for the Atacama Cosmology Telescope's fourth data release, DR4. Observations of Uranus are used to measure the central portion (<12 ' ) of the beams to roughly -40 dB of the peak. Such planet maps in intensity are used to construct azimuthally averaged beam profiles, which are fit with a physically motivated model before being transformed into Fourier space. We investigate and quantify a number of percent-level corrections to the beams, all of which are important for precision cosmology. Uranus maps in polarization are used to measure the temperature-to-polarization leakage in the main part of the beams, which is ≲ 1% (2.5%) at 150 GHz (98 GHz). The beams also have polarized sidelobes, which are measured with observations of Saturn and deprojected from the ACT time-ordered data. Notable changes relative to past ACT beam analyses include an improved subtraction of the atmospheric effects from Uranus calibration maps, incorporation of a scattering term in the beam profile model, and refinements to the beam model uncertainties and the main temperature-to-polarization leakage terms in the ACT power spectrum analysis.