Controlling and manipulating elastic/acoustic waves via artificially structured metamaterials, phononic crystals, and metasurfaces have gained an increasing research interest in the last decades. Unlike others, a metasurface is a single layer in the host medium with an array of subwavelength-scaled patterns introducing an abrupt phase shift in the wave propagation path. In this study, an elastic metasurface composed of an array of slender beam resonators is proposed to control the elastic wavefront of low-frequency flexural waves. The phase gradient based on Snell’s law is achieved by tailoring the thickness of thin beam resonators connecting two elastic host media. Through analytical and numerical models, the phase-modulated metasurfaces are designed and verified to accomplish three dynamic wave functions, namely, deflection, non-paraxial propagation, and focusing. An oblique incident wave is also demonstrated to show the versatility of the proposed design for focusing of wave energy incident from multiple directions. Experimentally measured focusing metasurface has nearly three times wave amplification at the designed focal point which validates the design and theoretical models. Furthermore, the focusing metasurface is exploited for low-frequency energy harvesting and the piezoelectric harvester is improved by almost nine times in terms of the harvested power output as compared to the baseline harvester on the pure plate without metasurface.