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Abstract This paper investigates a delayed predator-prey model with discontinuous harvesting and Beddington–DeAngelis functional response. Using the theory of differential inclusion theory, the existence of positive solutions in the sense of Filippov is discussed. Under reasonable assumptions and periodic disturbances, the existence of positive periodic solutions of the model is studied based on the theory of Mawhin’s coincidence degree. Finally, through numerical simulation, the correctness and feasibility of the conclusions are verified.