- Accounts of Belyayev's life and space career appear in the 2003 book "Fallen Astronauts" and the 2007 book Into That Silent Sea, both by Colin Burgess. Belyayev is also used as a character in Judith and Garfield Reeves-Stevens 2005 novel, Freefall, in which he is the first person to land on the moon, hours before Apollo 11.
- A crater on the far side of the moon was named after Belyayev by the IAU in 1970.
- Konstantin Khabenskiy portrayed Belyayev in the 2017 Russian film Spacewalk (2017), a dramatisation of the Voskhod 2 mission. Leonov acted as creative consultant and the film is dedicated to Belyayev.
- His name appears on the plaque accompanying the Fallen Astronaut sculpture placed on the Moon on 1 August 1971 by the crew of Apollo 15.
- Belyayev has been commemorated with other prominent figures from the early Russian space program with a bust on Cosmonauts Alley in Moscow. Pavel Belyayev was awarded the Hero of the Soviet Union (23 March 1965), Order of Lenin, Order of the Red Star, numerous medals and foreign orders. He also bore the title of the Hero of Socialist Labor of Bulgaria, Hero of Vietnam, and Hero of Mongolia.
- Pavel Belyayev appeared on various stamps. In 1965, he appeared on stamps from the Soviet Union, Cuba, Bulgaria, East Germany, and Hungary. In 1966, he appeared on stamps from Bulgaria, Mali, and Mauritania.
- A minor planet discovered in 1969 by Soviet astronomer Lyudmila Chernykh is named 2030 Belyaev after him.
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