The scarp is a surface manifestation of a thrust fault, which formed when the planet contracted as its interior cooled.

The central segment trends in the north–south direction and crosscuts the elliptically shaped Sveinsdóttir crater.

The floor of Sveinsdóttir was flooded by the smooth plains material and deformed by wrinkle-ridges before the appearance of Beagle Rupes.

This segment of Beagle Rupes crosscuts and deforms a small 17 km-diameter (11 mi) crater.

The scarp appears to be a young feature, which postdates the emplacement of the smooth plans and formation of the majority of impact craters.