Systems and methods for reading RFID tags using joint beamforming and preamble detection in accordance with embodiments of the invention are disclosed. One embodiment includes an antenna array comprising a plurality of antenna elements, a joint beamformer and preamble detector configured to receive inputs from each of the antenna elements, and a decoder configured to receive a resampled signal from the joint beamformer and preamble detector and to decode data using the resampled signal. In addition, the joint beamformer and preamble detector is configured to correlate the inputs from the antenna elements against a correlation sequence at a plurality of starting sample positions and predetermined rates, use the correlations to select a starting sample position and rate for decoding the received signal, use the correlations to determine beamforming coefficients for combining the inputs, and resample the combined inputs based upon the selected starting sample position and rate.