A high resolution (sigma <3 um) beam telescope based on monolithic active pixel sensors is being developed within the EUDET collaboration. EUDET is a coordinated detector R&D programme for a future international linear collider providing test beam infrastructure to detector R&D groups. The telescope consists of six sensor planes with a pixel pitch of 30 um and can be operated inside a solenoidal magnetic field of up to 1.2T. A general purpose cooling, positioning, readout infrastructure and data analysis tool is available. In this presentation the performance of the telescope in test beams at DESY and CERN will be summarised and the design of the final telescope with full digital readout will be presented.