diff --git a/.changeset/evil-states-fold.md b/.changeset/evil-states-fold.md
new file mode 100644
index 0000000000..abadb90528
--- /dev/null
+++ b/.changeset/evil-states-fold.md
@@ -0,0 +1,5 @@
+---
+"@redocly/openapi-core": patch
+---
+
+Fixed `path-params-defined` rule to correctly skip parameters defined through `$ref`.
diff --git a/packages/core/src/rules/common/__tests__/path-params-defined.test.ts b/packages/core/src/rules/common/__tests__/path-params-defined.test.ts
index 2f3e755f24..60b62d216a 100644
--- a/packages/core/src/rules/common/__tests__/path-params-defined.test.ts
+++ b/packages/core/src/rules/common/__tests__/path-params-defined.test.ts
@@ -402,4 +402,30 @@ describe('Oas3 path-params-defined', () => {
       ]
     `);
   });
+
+  it('should not report on undefined params in case of reference', async () => {
+    const document = parseYamlToDocument(
+      outdent`
+        openapi: 3.0.0
+        paths:
+          /test-endpoint:
+            get:
+              operationId: testEndpoint
+              tags:
+                - Test
+              summary: Test endpoint to reproduce bug
+              parameters:
+                - $ref: ./test_params.yaml
+      `,
+      'foobar.yaml'
+    );
+
+    const results = await lintDocument({
+      externalRefResolver: new BaseResolver(),
+      document,
+      config: await createConfig({ rules: { 'path-params-defined': 'error' } }),
+    });
+
+    expect(replaceSourceWithRef(results)).toMatchInlineSnapshot(`[]`);
+  });
 });
diff --git a/packages/core/src/rules/common/path-params-defined.ts b/packages/core/src/rules/common/path-params-defined.ts
index 98f41a192c..08d8a3e4c4 100644
--- a/packages/core/src/rules/common/path-params-defined.ts
+++ b/packages/core/src/rules/common/path-params-defined.ts
@@ -112,11 +112,9 @@ const createOperationHandlers = (
     enter() {
       currentOperationParams = new Set();
     },
-    leave(_op: unknown, { report, location }: UserContext) {
+    leave(_operation: unknown, { report, location }: UserContext) {
       if (!pathContext.current || !currentOperationParams) return;
 
-      collectPathParamsFromOperation(_op, currentOperationParams);
-
       validateRequiredPathParams(
         pathContext.current.templateParams,
         currentOperationParams,
@@ -127,6 +125,8 @@ const createOperationHandlers = (
       );
     },
     Parameter(parameter: Oas2Parameter | Oas3Parameter, { report, location }: UserContext) {
+      collectPathParamsFromOperation(parameter, currentOperationParams);
+
       if (parameter.in === 'path' && parameter.name && pathContext.current) {
         currentOperationParams.add(parameter.name);
         validatePathParameter(
@@ -150,13 +150,15 @@ const extractTemplateParams = (path: string): Set<string> => {
   return new Set(Array.from(path.matchAll(pathRegex)).map((m) => m[1]));
 };
 
-const collectPathParamsFromOperation = (operation: unknown, targetSet: Set<string>): void => {
-  const op = operation as { parameters?: Array<{ in?: string; name?: string }> };
-  op?.parameters?.forEach((param) => {
-    if (param?.in === 'path' && param?.name) {
-      targetSet.add(param.name);
+const collectPathParamsFromOperation = (
+  parameter: Oas2Parameter | Oas3Parameter,
+  targetSet: Set<string>
+): void => {
+  if (parameter && typeof parameter === 'object' && 'in' in parameter && 'name' in parameter) {
+    if (parameter.in === 'path' && parameter.name) {
+      targetSet.add(parameter.name);
     }
-  });
+  }
 };
 
 const validatePathParameter = (