It's almost impossible for the answer here to be "yes", because the penalty for failure is fairly high. The "safe" answer of course is just "no" - since it can never be proved wrong. On the other hand, leaving meat out of the fridge (or freezer) to defrost is, I would suggest, a fairly common behaviour.
As with many things though, some common sense does apply. There are a number of factors to consider - and then at the end of the day, it's up to you.
a) the source of the meat. You may live in a country where all the meat comes in small polystyrene trays wrapped in cling-film. Where it's been immaculately handled from slaughter to supermarket. On the other hand many (dare I say most?) people buy meat that's been slaughtered right there in the market, and left all day under a hot sun, and endless flies. Quite surprisingly, they haven't all died. The former I'm somewhat more casual about than the latter.
b) the cooking method - "solid" beef, ie not ground beef, develops bacteria on the outside, not the inside. So I'd definitely give the outside of the meat a good searing to be sure. Or, if you like, slightly trim the outside of the meat first, then sear it.
c) slightly aside - the meat type. Beef (and lamb) are pretty resistant to spoilage - things like chicken and pork less so. Also chicken and pork can develop nasties "inside" the meat - one reason those meats are never served raw (or rare). Shellfish is also dangerous if it has spoiled.
d) the temperature of the room it was sitting in. If it's 110 in the shade outside, and like 90 in your kitchen, then 16 hours is a long time. In winter though I can leave a joint out overnight in the kitchen and it's still partially frozen in the morning. Clearly the temperature will affect the amount of time I'd leave it out for.
e) any obvious sign of spoilage? With beef (given that it doesn't really show) any unpleasant odor or color is probably not good.
At the end of the day it is your decision.