In this work we address the problem of boundary feedback stabilization for a geometrically exact shearable beam, allowing for large deflections and rotations and small strains. The corresponding mathematical model may be written in terms of displacements and rotations (geometrically exact beam), or intrinsic variables (intrinsic geometrically exact beam). A nonlinear transformation relates both models, allowing us to take advantage of the fact that the latter model is a one-dimensional first-order semilinear hyperbolic system, and deduce stability properties for both models. By applying boundary feedback controls at one end of the beam while the other end is clamped, we show that the zero steady state of the intrinsic geometrically exact beam model is locally exponentially stable for the H-1- and H-2 norms. The proof rests on the construction of a Lyapunov function, where the theory of Bastin and Coron [Stability and Boundary Stabilization of 1-D Hyperbolic Systems, in Progr. Nonlinear Differential Equations Appl. 88, Birkhauser/Springer, Cham, 2016] plays a crucial role. The major difficulty in applying this theory stems from the complicated nature of the nonlinearity and lower order term where no smallness arguments apply. Using the relationship between both models, we deduce the existence of a unique solution to the geometrically exact beam model, and properties of this solution as time goes to +infinity.