Abstract The NA61/SHINE experiment at the CERN Super Proton Synchrotron (SPS) studies the onset of deconfinement in hadron matter by a scan of particle production in collisions of nuclei with various sizes at a set of energies covering the SPS energy range. This paper presents results on inclusive double-differential spectra, transverse momentum and rapidity distributions and mean multiplicities of $$\pi ^\pm $$ π ± , $$K^\pm $$ K ± , p and $$\bar{p}$$ p ¯ produced in the 20% most central $$^7$$ 7 Be+ $$^9$$ 9 Be collisions at beam momenta of 19A, 30A, 40A, 75A and 150A $${\mathrm{Ge} \mathrm{V}}\!/\!c$$ Ge V / c . The energy dependence of the $$K^\pm $$ K ± / $$\pi ^\pm $$ π ± ratios as well as of inverse slope parameters of the $$K^\pm $$ K ± transverse mass distributions are close to those found in inelastic p+p reactions. The new results are compared to the world data on p+p and Pb+Pb collisions as well as to predictions of the Epos, Urqmd, Ampt, Phsd and Smash models.