The exemplary embodiments describe devices, systems and methods for adaptive uplink (UL) timing adjustment for beam switching. A user equipment (UE) may perform a beam switch from a first beam to a second beam, determine a timing offset associated with the second beam and apply an uplink (UL) timing adjustment based on the timing offset associated with the second beam. In some embodiments, the timing offset may be determined based on information received after the beam switch. In other embodiments, the timing offset may be determined based on information receive prior to the beam switch.