Liquid Health makes a beef/shellfish free formula.....
LIQUID HEALTH™ K-9 Glucosamine & HA
They also make a more concentrated formula.... I know it contains shellfish, but I'm not sure about beef.
LIQUID HEALTH™ Level 5000
They're relatively inexpensive compared to other products and I believe I saw just as good (or in some cases better) results with their "Level 5000" as I did with other brands.