In order to reduce the formation of heterocyclic amines in grilled beef patties without destroying their unique quality characteristics, the effects of different thermal processes, including charcoal grilling, infrared grilling, superheated steam roasting and microwave heating, on the production of heterocyclic amines in beef patties and grilling quality characteristics were systematically analyzed. The results showed that infrared grilling can significantly (p < 0.05) reduce the content of heterocyclic amines in grilled patties, and the combination of microwave heating or superheated steam roasting with infrared grilling could further reduce the content of heterocyclic amines, with a maximum reduction ratio of 44.48%. While subtle differences may exist in infrared grilled patties with/without superheated steam roasting or microwave heating, a slight change will not affect the overall quality characteristics of grilled patties. The combined thermal processing will not visually affect the color of the grilled patties. Correlation analysis and regression analysis showed that the reduction in heterocyclic amines caused by microwave heating and superheated steam roasting are related to the moisture content and lipid oxidation of grilled patties, respectively. Using combined thermal processes to reduce the formation of heterocyclic amines is advisable.