Generally, this disclosure provides systems and methods for modular antenna array beamforming with controllable antenna module delay for improved beam steering accuracy. A system may include a plurality of antenna modules, each of the antenna modules comprising an array of antenna elements coupled to an RF beamforming circuit, the RF beamforming circuit to adjust phase shifts associated with the antenna elements to generate an antenna beam associated with the antenna module; a delay circuit coupled to each of the antenna modules; and a central beamforming module coupled to each of the delay circuits, the central beamforming module to control the antenna beam associated with each of the antenna modules and further to adjust signal delays associated with the delay circuits, wherein the arrays of antenna elements of the antenna modules combine to operate as a composite antenna beamforming array.