A process for continuously preparing a butyl acrylate H2C═CH—C(═O)OR, with R=n-butyl or isobutyl, wherein aqueous 3-hydroxypropionic acid is converted under dehydrating and esterifying conditions in the presence of the corresponding butanol R—OH in a reactor with a rectification column and butyl acrylate formed, unconverted butanol and water used and formed are distilled off overhead as a ternary azeotrope, after separation into a liquid aqueous phase and liquid organic phase each of the aqueous and organic phases is at least partly discharged, and the organic phase comprising the butyl acrylate and the butanol is subjected to distillative separation.