diff --git a/.github/workflows/pr-validation.yml b/.github/workflows/pr-validation.yml
index 09da2bf6f60..bcd34e3984b 100644
--- a/.github/workflows/pr-validation.yml
+++ b/.github/workflows/pr-validation.yml
@@ -19,12 +19,16 @@ jobs:
         - runner: ubuntu-latest
           name: amd64
     steps:
-
       - name: Check out code
         uses: actions/checkout@692973e3d937129bcbf40652eb9f2f61becf3332 # v4
         with:
           fetch-depth: 1
 
+      - name: Install prerequisites
+        run: |
+          apt-get update
+          apt-get install -y jq python3-yaml
+
       - name: Register workspace path
         run: git config --global --add safe.directory "$GITHUB_WORKSPACE"
 
diff --git a/CHANGELOG.md b/CHANGELOG.md
index dd14e97d968..c3c8ed1b4d7 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -79,6 +79,7 @@ Here is an overview of all new **experimental** features:
 
 ### Fixes
 
+- **General**: Check for missing CRD references and sample CRs ([#5920](https://github.com/kedacore/keda/issues/5920))
 - **General**: Scalers are properly closed after being refreshed ([#5806](https://github.com/kedacore/keda/issues/5806))
 - **MongoDB Scaler**:  MongoDB url parses correctly `+srv` scheme ([#5760](https://github.com/kedacore/keda/issues/5760))
 
diff --git a/config/samples/keda_v1alpha1_clustertriggerauthentication.yaml b/config/samples/keda_v1alpha1_clustertriggerauthentication.yaml
new file mode 100644
index 00000000000..b0ab1ec8f67
--- /dev/null
+++ b/config/samples/keda_v1alpha1_clustertriggerauthentication.yaml
@@ -0,0 +1,9 @@
+apiVersion: keda.sh/v1alpha1
+kind: ClusterTriggerAuthentication
+metadata:
+  name: example-clustertriggerauthentication
+spec:
+  secretTargetRef:
+    - parameter: example-secret-parameter
+      name: example-secret-name
+      key: example-role-key
diff --git a/config/samples/keda_v1alpha1_triggerauthentication.yaml b/config/samples/keda_v1alpha1_triggerauthentication.yaml
index a4733a1d4ac..0bc49056653 100644
--- a/config/samples/keda_v1alpha1_triggerauthentication.yaml
+++ b/config/samples/keda_v1alpha1_triggerauthentication.yaml
@@ -1,4 +1,4 @@
-apiVersion: keda.k8s.io/v1alpha1
+apiVersion: keda.sh/v1alpha1
 kind: TriggerAuthentication
 metadata:
   name: example-triggerauthentication
diff --git a/config/samples/kustomization.yaml b/config/samples/kustomization.yaml
index 9ef860d16a0..94ec29e2c3a 100644
--- a/config/samples/kustomization.yaml
+++ b/config/samples/kustomization.yaml
@@ -1,5 +1,7 @@
 ## Append samples you want in your CSV to this file as resources ##
 resources:
+- eventing_v1alpha1_cloudeventsource.yaml
+- keda_v1alpha1_clustertriggerauthentication.yaml
 - keda_v1alpha1_scaledobject.yaml
 - keda_v1alpha1_scaledjob.yaml
 - keda_v1alpha1_triggerauthentication.yaml
diff --git a/hack/verify-manifests.sh b/hack/verify-manifests.sh
index 74c8b8a2b05..31816755274 100755
--- a/hack/verify-manifests.sh
+++ b/hack/verify-manifests.sh
@@ -30,6 +30,55 @@ cleanup() {
 }
 trap "cleanup" EXIT SIGINT
 
+yaml2json() {
+  python3 -c 'import json, sys, yaml ; y=yaml.safe_load(sys.stdin.read()) ; json.dump(y, sys.stdout)'
+}
+
+if ! python3 -c "import yaml" >/dev/null 2>&1; then
+  echo "Python module 'yaml' required for this script."
+  exit 1
+fi
+
+# Make sure all the CRDs are listed in the kustomize resource list
+declare -A crds
+declare -A crs
+while read -r filename; do
+  crds["$filename"]=1
+done < <(sed -n '/^resources:$/,/^[^-]/ s#^- ##p' config/crd/kustomization.yaml)
+bad_crd_resource_list=0
+for f in config/crd/bases/*.yaml; do
+  key="bases/$(basename "$f")"
+  if [ ! -v "crds[${key}]" ]; then
+    echo "ERROR: CRD file $f is not listed in the resources section of config/crd/kustomization.yaml"
+    bad_crd_resource_list=1
+  else
+    crs[$key]="$(yaml2json < $f | jq -r '.spec.names.singular as $k | (.spec.group | sub("\\..*"; "")) as $g | .spec.versions[] | ($g+"_"+.name+"_"+$k)')"
+  fi
+done
+
+# Make sure all sample CRs are listed in the kustomize resource list (part 1)
+declare -A crslist
+while read -r filename; do
+  if ! test -f "$filename"; then
+    crslist["$filename"]=1
+  fi
+done < <(sed -n '/^resources:$/,/^[^-]/ s#^- ##p' config/samples/kustomization.yaml)
+
+# Make sure there is a sample CR for each CRD version
+for key in ${!crs[@]}; do
+  for gvk in ${crs[$key]}; do
+    if [ ! -f "config/samples/${gvk}.yaml" ]; then
+      echo "ERROR: CRD config/crd/$key does not have a sample CR config/samples/$gvk.yaml"
+      bad_crd_resource_list=1
+    fi
+    # Make sure all sample CRs are listed in the kustomize resource list (part 2)
+    if [ ! -v "crslist[${gvk}.yaml]" ]; then
+      echo "ERROR: CR config/samples/${gvk}.yaml is not listed in the resources section of config/samples/kustomization.yaml"
+      bad_crd_resource_list=1
+    fi
+  done
+done
+
 cleanup
 
 mkdir -p "${TMP_DIFFROOT}"
@@ -47,3 +96,8 @@ else
   echo "${DIFFROOT} is out of date. Please run 'make manifests'"
   exit 1
 fi
+
+if [ "$bad_crd_resource_list" != 0 ]; then
+  echo "Check failed due to previous errors. See output above"
+  exit 1
+fi