Graphene, a one-atom-thick carbon sheet with electronically tunable electromagnetic properties, has an interesting terahertz response, currently explored in a variety of applications. In this work, we put forward the design and realization of graphene nanodevices for THz phase modulation and beamforming, of large interest to sensing and wireless communication systems at THz frequencies. We present various designs for ultracompact, voltage-controlled phase-shifting devices that may tailor the phase and wavefront of a signal to achieve high-data-rate, inter-/intra-chip communications as well as interference management.