diff --git a/pkg/apis/pipeline/v1/pipeline_validation.go b/pkg/apis/pipeline/v1/pipeline_validation.go
index 5b29b5af4ed..e38b9ebaba0 100644
--- a/pkg/apis/pipeline/v1/pipeline_validation.go
+++ b/pkg/apis/pipeline/v1/pipeline_validation.go
@@ -50,7 +50,7 @@ func (p *Pipeline) Validate(ctx context.Context) *apis.FieldError {
 	// When a Pipeline is created directly, instead of declared inline in a PipelineRun,
 	// we do not support propagated parameters and workspaces.
 	// Validate that all params and workspaces it uses are declared.
-	errs = errs.Also(p.Spec.validatePipelineParameterUsage().ViaField("spec"))
+	errs = errs.Also(p.Spec.validatePipelineParameterUsage(ctx).ViaField("spec"))
 	return errs.Also(p.Spec.validatePipelineWorkspacesUsage().ViaField("spec"))
 }
 
@@ -110,6 +110,16 @@ func (l PipelineTaskList) Validate(ctx context.Context, taskNames sets.String, p
 	return errs
 }
 
+// validateUsageOfDeclaredPipelineTaskParameters validates that all parameters referenced in the pipeline Task are declared by the pipeline Task.
+func (l PipelineTaskList) validateUsageOfDeclaredPipelineTaskParameters(ctx context.Context, path string) (errs *apis.FieldError) {
+	for i, t := range l {
+		if t.TaskSpec != nil {
+			errs = errs.Also(ValidateUsageOfDeclaredParameters(ctx, t.TaskSpec.Steps, t.TaskSpec.Params).ViaFieldIndex(path, i))
+		}
+	}
+	return errs
+}
+
 // ValidateName checks whether the PipelineTask's name is a valid DNS label
 func (pt PipelineTask) ValidateName() *apis.FieldError {
 	if err := validation.IsDNS1123Label(pt.Name); len(err) > 0 {
@@ -300,7 +310,9 @@ func validatePipelineWorkspacesDeclarations(wss []PipelineWorkspaceDeclaration)
 }
 
 // validatePipelineParameterUsage validates that parameters referenced in the Pipeline are declared by the Pipeline
-func (ps *PipelineSpec) validatePipelineParameterUsage() (errs *apis.FieldError) {
+func (ps *PipelineSpec) validatePipelineParameterUsage(ctx context.Context) (errs *apis.FieldError) {
+	errs = errs.Also(PipelineTaskList(ps.Tasks).validateUsageOfDeclaredPipelineTaskParameters(ctx, "tasks"))
+	errs = errs.Also(PipelineTaskList(ps.Finally).validateUsageOfDeclaredPipelineTaskParameters(ctx, "finally"))
 	errs = errs.Also(validatePipelineTaskParameterUsage(ps.Tasks, ps.Params).ViaField("tasks"))
 	errs = errs.Also(validatePipelineTaskParameterUsage(ps.Finally, ps.Params).ViaField("finally"))
 	return errs
diff --git a/pkg/apis/pipeline/v1/pipeline_validation_test.go b/pkg/apis/pipeline/v1/pipeline_validation_test.go
index f3ea1f762c0..41073808f40 100644
--- a/pkg/apis/pipeline/v1/pipeline_validation_test.go
+++ b/pkg/apis/pipeline/v1/pipeline_validation_test.go
@@ -140,6 +140,58 @@ func TestPipeline_Validate_Failure(t *testing.T) {
 			Message: `expected at least one, got none`,
 			Paths:   []string{"spec.description", "spec.params", "spec.resources", "spec.tasks", "spec.workspaces"},
 		},
+	}, {
+		name: "invalid parameter usage in pipeline task",
+		p: &Pipeline{
+			ObjectMeta: metav1.ObjectMeta{Name: "pipeline"},
+			Spec: PipelineSpec{
+				Tasks: []PipelineTask{{
+					Name: "invalid-pipeline-task",
+					TaskSpec: &EmbeddedTask{TaskSpec: TaskSpec{
+						Steps: []Step{{
+							Name:   "some-step",
+							Image:  "some-image",
+							Script: "$(params.doesnotexist)",
+						}},
+					}},
+				}},
+			},
+		},
+		expectedError: apis.FieldError{
+			Message: `non-existent variable in "$(params.doesnotexist)"`,
+			Paths:   []string{"spec.tasks[0].steps[0].script"},
+		},
+	}, {
+		name: "invalid parameter usage in finally pipeline task",
+		p: &Pipeline{
+			ObjectMeta: metav1.ObjectMeta{Name: "pipeline"},
+			Spec: PipelineSpec{
+				Tasks: []PipelineTask{{
+					Name: "pipeline-task",
+					TaskSpec: &EmbeddedTask{TaskSpec: TaskSpec{
+						Steps: []Step{{
+							Name:    "some-step",
+							Image:   "some-image",
+							Command: []string{"cmd"},
+						}},
+					}},
+				}},
+				Finally: []PipelineTask{{
+					Name: "invalid-pipeline-task",
+					TaskSpec: &EmbeddedTask{TaskSpec: TaskSpec{
+						Steps: []Step{{
+							Name:   "some-step",
+							Image:  "some-image",
+							Script: "$(params.doesnotexist)",
+						}},
+					}},
+				}},
+			},
+		},
+		expectedError: apis.FieldError{
+			Message: `non-existent variable in "$(params.doesnotexist)"`,
+			Paths:   []string{"spec.finally[0].steps[0].script"},
+		},
 	}}
 	for _, tt := range tests {
 		t.Run(tt.name, func(t *testing.T) {
diff --git a/pkg/apis/pipeline/v1beta1/pipeline_validation.go b/pkg/apis/pipeline/v1beta1/pipeline_validation.go
index 59996d17af2..2e2ecadf1e8 100644
--- a/pkg/apis/pipeline/v1beta1/pipeline_validation.go
+++ b/pkg/apis/pipeline/v1beta1/pipeline_validation.go
@@ -51,7 +51,7 @@ func (p *Pipeline) Validate(ctx context.Context) *apis.FieldError {
 	// When a Pipeline is created directly, instead of declared inline in a PipelineRun,
 	// we do not support propagated parameters and workspaces.
 	// Validate that all params and workspaces it uses are declared.
-	errs = errs.Also(p.Spec.validatePipelineParameterUsage().ViaField("spec"))
+	errs = errs.Also(p.Spec.validatePipelineParameterUsage(ctx).ViaField("spec"))
 	return errs.Also(p.Spec.validatePipelineWorkspacesUsage().ViaField("spec"))
 }
 
@@ -113,6 +113,16 @@ func (l PipelineTaskList) Validate(ctx context.Context, taskNames sets.String, p
 	return errs
 }
 
+// validateUsageOfDeclaredPipelineTaskParameters validates that all parameters referenced in the pipeline Task are declared by the pipeline Task.
+func (l PipelineTaskList) validateUsageOfDeclaredPipelineTaskParameters(ctx context.Context, path string) (errs *apis.FieldError) {
+	for i, t := range l {
+		if t.TaskSpec != nil {
+			errs = errs.Also(ValidateUsageOfDeclaredParameters(ctx, t.TaskSpec.Steps, t.TaskSpec.Params).ViaFieldIndex(path, i))
+		}
+	}
+	return errs
+}
+
 // ValidateName checks whether the PipelineTask's name is a valid DNS label
 func (pt PipelineTask) ValidateName() *apis.FieldError {
 	if err := validation.IsDNS1123Label(pt.Name); len(err) > 0 {
@@ -321,7 +331,9 @@ func validatePipelineWorkspacesDeclarations(wss []PipelineWorkspaceDeclaration)
 }
 
 // validatePipelineParameterUsage validates that parameters referenced in the Pipeline are declared by the Pipeline
-func (ps *PipelineSpec) validatePipelineParameterUsage() (errs *apis.FieldError) {
+func (ps *PipelineSpec) validatePipelineParameterUsage(ctx context.Context) (errs *apis.FieldError) {
+	errs = errs.Also(PipelineTaskList(ps.Tasks).validateUsageOfDeclaredPipelineTaskParameters(ctx, "tasks"))
+	errs = errs.Also(PipelineTaskList(ps.Finally).validateUsageOfDeclaredPipelineTaskParameters(ctx, "finally"))
 	errs = errs.Also(validatePipelineTaskParameterUsage(ps.Tasks, ps.Params).ViaField("tasks"))
 	errs = errs.Also(validatePipelineTaskParameterUsage(ps.Finally, ps.Params).ViaField("finally"))
 	return errs
diff --git a/pkg/apis/pipeline/v1beta1/pipeline_validation_test.go b/pkg/apis/pipeline/v1beta1/pipeline_validation_test.go
index 215698ecb79..f35aef60ea2 100644
--- a/pkg/apis/pipeline/v1beta1/pipeline_validation_test.go
+++ b/pkg/apis/pipeline/v1beta1/pipeline_validation_test.go
@@ -142,6 +142,58 @@ func TestPipeline_Validate_Failure(t *testing.T) {
 			Message: `expected at least one, got none`,
 			Paths:   []string{"spec.description", "spec.params", "spec.resources", "spec.tasks", "spec.workspaces"},
 		},
+	}, {
+		name: "invalid parameter usage in pipeline task",
+		p: &Pipeline{
+			ObjectMeta: metav1.ObjectMeta{Name: "pipeline"},
+			Spec: PipelineSpec{
+				Tasks: []PipelineTask{{
+					Name: "invalid-pipeline-task",
+					TaskSpec: &EmbeddedTask{TaskSpec: TaskSpec{
+						Steps: []Step{{
+							Name:   "some-step",
+							Image:  "some-image",
+							Script: "$(params.doesnotexist)",
+						}},
+					}},
+				}},
+			},
+		},
+		expectedError: apis.FieldError{
+			Message: `non-existent variable in "$(params.doesnotexist)"`,
+			Paths:   []string{"spec.tasks[0].steps[0].script"},
+		},
+	}, {
+		name: "invalid parameter usage in finally pipeline task",
+		p: &Pipeline{
+			ObjectMeta: metav1.ObjectMeta{Name: "pipeline"},
+			Spec: PipelineSpec{
+				Tasks: []PipelineTask{{
+					Name: "pipeline-task",
+					TaskSpec: &EmbeddedTask{TaskSpec: TaskSpec{
+						Steps: []Step{{
+							Name:    "some-step",
+							Image:   "some-image",
+							Command: []string{"cmd"},
+						}},
+					}},
+				}},
+				Finally: []PipelineTask{{
+					Name: "invalid-pipeline-task",
+					TaskSpec: &EmbeddedTask{TaskSpec: TaskSpec{
+						Steps: []Step{{
+							Name:   "some-step",
+							Image:  "some-image",
+							Script: "$(params.doesnotexist)",
+						}},
+					}},
+				}},
+			},
+		},
+		expectedError: apis.FieldError{
+			Message: `non-existent variable in "$(params.doesnotexist)"`,
+			Paths:   []string{"spec.finally[0].steps[0].script"},
+		},
 	}}
 	for _, tt := range tests {
 		t.Run(tt.name, func(t *testing.T) {