Beam steering is widely used in aerospace, laser communication, vehicle-mounted ridar, optical information processing, biomedicine and military confrontation. Non-mechanical beam steering has received intensive attention. Liquid-crystal-polymer-based polarization grating can realize high-efficient, large-angle beam steering with merits of simple and low-cost fabrication, and thus has been gradually adopted in non-mechanical beam steering. In this paper, two circularly polarized holographic optical paths are used to fabricate the liquid-crystal-polymer-based polarization grating of different pitches, respectively. The measured diffraction efficiency reaches over 99.3%. Multiple liquid-crystal-polymer-based gratings are cascaded and then stacked with liquid crystal polymer/ferroelectric liquid crystal/liquid crystal polymer waveplates to achieve fast response (70 μs) and large angle 4-channel beam deflections.