We heard the drums beating.

我们听到鼓声。

《牛津词典》

Alarm-bells ringing, drums beating, the sea raging and thundering on its new beach , the attack began.

警钟争鸣，鼓声震地，人潮冲击到新的堤岸边，进攻开始。

youdao

I listen vainly, but with thirsty ears, for the witching melody of faint bugles blowing reveille, of far drums beating the long roll.

我尽力但徒然地倾听，渴望听到军号吹奏起床导对那微弱而迷人的旋律，以及远处战鼓急促敲击的动人节奏。

youdao

The honour, agreed unanimously by the county's councillors, allows the regiment to march with "colours flying, drums beating and bayonets fixed" on ceremonial occasions.

BBC: Royal Welsh hold Anglesey 'freedom' parade in Holyhead

Having the freedom of the the town means the battalion is allowed to parade with colours flying, bayonets fixed, drums beating and bands playing.

BBC: 2nd Battalion The Royal Welsh: Soldiers in Bridgend march

Crowds marched towards parliament in Athens, beating drums and blowing whistles as part of the 24-hour strike.

BBC: Greeks in fresh general strike against austerity