The 36-year-old soccer star earned a £4.5 million salary from his club Los Angeles Galaxy and another £12 million from his worldwide sponsorship deals, which include partnerships with Sharpie marker pens, clothing brand Armani and sportswear brand Adidas.
Accounts from his Footwork Productions company disclosed the earnings, although in total he is expected to have made even more from his other firm Brand Beckham, with deals with endorsements with his wife Victoria.
David - who has four children with Victoria, sons Brooklyn, 12, Romeo, nine, Cruz, six and two month old daughter Harper - is coming to the end of his contract with Los Angeles Galaxy next month, and has said his family will help him decide whether to move to another club.
London club Tottenham Hotspur want to sign the former England captain but Victoria is reportedly keen for the family to stay in California, where they moved in 2007, rather than return to their native England
A source previously said: "Victoria has told David she has never felt happier and that they now have the perfect family.
"She wants Harper to grow up in a place where she can have the amazing childhood the boys have had.
"Where they live now, they can play on the beach at the weekend, swim outdoors every day and have a great lifestyle growing up in the sunshine."
However, David - who has played for English team Manchester United, Real Madrid in Spain and AC Milan in Italy - is said to not want to rule out offers from European clubs, which also includes interest from French side Paris Saint-Germain.