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In this paper, we consider a dual-hop Multiple Input Multiple Output (MIMO) wireless relay network in the presence of imperfect channel state information (CSI), in which a source-destination pair both equipped with multiple antennas communicates through a large number of half-duplex amplify-and-forward (AF) relay terminals. We investigate the performance of three linear beamforming schemes when the CSI of relay-to-destination (R-D) link is not perfect at the relay nodes. The three efficient linear beamforming schemes are based on the matched-filter (MF), zero-forcing (ZF) precoding and regularized zero-forcing (RZF) precoding techniques, which utilize the CSI of both S-D channel and R-D channel at the relay nodes. By modeling the R-D CSI error at the relay nodes as independent complex Gaussian random variables, we derive the ergodic capacities of the three beamformers in terms of instantaneous SNR. Using Law of Large Number, we obtain the asymptotic capacities, upon which the optimized MF-RZF is derived. Simulation results show that the asymptotic capacities match with the respective ergodic capacities very well. Analysis and simulation results demonstrate that the optimized MF-RZF outperforms MF and MF-ZF for any power of R-D CSI error.