The Model 23-24 Musketeer Super III proved the utility of the 200-hp engine in the Musketeer 's airframe , but the fixed-gear configuration prevented the full advantage of the Lycoming fuel-injected engine's extra power from being used. The obvious solution was landing gear retraction , and this resulted in the Model 24R .

The 1970 Musketeer Super R ( A24R ) was the first model for the new retractable version of the Musketeer , in direct competition with the Piper Arrow .

Renamed "Sierra" in 1972. Initial A24R was equipped with a 200 bhp Lycoming IO-360-A1B and sold for a standard price of $24,950. The Model 24R completed Beech's series between fixed-gear Musketeers and the much larger, faster, more complex, and expensive Beechcraft Bonanza .

The year 1974 saw the introduction of the improved B24R Sierra , fitted with the Lycoming IO-360-A1B6 engine and a new version of the propeller, as that year's model. The improved 1977 C24R was equipped with the same engine and larger propeller. Beech also did an aerodynamic cleanup on the "C" model, making it 6 knots faster than the "B" model it replaced in 1977.

Production of the Sierra ended at the same time the Model 23 Sundowner assembly line closed , during the aviation economic downturn of 1983. A total of 744 Sierras were delivered . 1

The Musketeer design was developed into a twin-engined aircraft, the Beechcraft Model 76 Duchess .