No no no no
Dog cannot have cooked bones! Cooking bones makes them brittle and they can shatter and pierce the dogs stomach.
Raw beef bones are ok but only if they are large bones that the dog cannot swallow and they must be supervised while they are eating them. Bones that have been left out for more than a few days can also become brittle and shatter.
Watch him very closely for the nect few days. If he does not poop or starts vomiting he needs to go to the vet immediately!