PurposeTo propose a straightforward and time‐efficient quality assurance (QA) approach of beam time delay for respiratory‐gated radiotherapy and validate the proposed method on typical respiratory gating systems, Catalyst™ and AlignRT™.MethodsThe QA apparatus was composed of a motion platform and a Winston‐Lutz cube phantom (WL3) embedded with metal balls. The apparatus was first scanned in CT‐Sim and two types of QA plans specific for beam on and beam off time delay, respectively, were designed. Static reference images and motion testing images of the WL3 cube were acquired with EPID. By comparing the position differences of the embedded metal balls in the motion and reference images, beam time delays were determined. The proposed approach was validated on three linacs with either Catalyst™ or AlignRT™ respiratory gating systems. To investigate the impact of energy and dose rate on beam time delay, a range of QA plans with Eclipse (V15.7) were devised with varying energy and dose rates.ResultsFor all energies, the beam on time delays in AlignRT™ V6.3.226, AlignRT™ V7.1.1, and Catalyst™ were 92.13 5.79 ms, 123.11 6.44 ms, and 303.44 4.28 ms, respectively. The beam off time delays in AlignRT™ V6.3.226, AlignRT™ V7.1.1, and Catalyst™ were 121.87 1.34 ms, 119.33 0.75 ms, and 97.69 2.02 ms, respectively. Furthermore, the beam on delays decreased slightly as dose rates increased for all gating systems, whereas the beam off delays remained unaffected.ConclusionsThe validation results demonstrate the proposed QA approach of beam time delay for respiratory‐gated radiotherapy was both reproducible and time‐efficient to practice for institutions to customize accordingly.