diff --git a/examples/v1/taskruns/alpha/task-stepaction-results.yaml b/examples/v1/taskruns/alpha/task-stepaction-results.yaml
new file mode 100644
index 00000000000..e3b91f271e1
--- /dev/null
+++ b/examples/v1/taskruns/alpha/task-stepaction-results.yaml
@@ -0,0 +1,48 @@
+apiVersion: tekton.dev/v1alpha1
+kind: StepAction
+metadata:
+  name: step-action
+spec:
+  params:
+    - name: message
+      type: string
+  env:
+    - name: message
+      value: $(params.message)
+  image: mirror.gcr.io/bash
+  script: |
+    #!/usr/bin/env bash
+    echo ${message}
+
+---
+apiVersion: tekton.dev/v1
+kind: TaskRun
+metadata:
+  generateName: reference-step-result-in-step-
+spec:
+  taskSpec:
+    description: |
+      A simple task to demonstrate how to reference a step result in another step when used alongside with task result
+    results:
+    - name: resultsDir
+      type: string
+    steps:
+    - name: collect
+      image: mirror.gcr.io/bash
+      results:
+        - name: message
+          type: string
+      script: |
+        #!/usr/bin/env sh
+        set -x
+        message="scott"
+
+        echo -n "${message}" > $(step.results.message.path)
+        echo -n "tom" > $(results.resultsDir.path)
+    - name: reduce
+      params:
+        - name: message
+          value: $(steps.collect.results.message)
+      ref:
+        name: step-action
+
diff --git a/pkg/apis/pipeline/v1/task_validation.go b/pkg/apis/pipeline/v1/task_validation.go
index 4232d295d2b..d93fce54940 100644
--- a/pkg/apis/pipeline/v1/task_validation.go
+++ b/pkg/apis/pipeline/v1/task_validation.go
@@ -859,6 +859,5 @@ func ValidateStepResultsVariables(ctx context.Context, results []StepResult, scr
 		resultsNames.Insert(r.Name)
 	}
 	errs = errs.Also(substitution.ValidateNoReferencesToUnknownVariables(script, "step.results", resultsNames).ViaField("script"))
-	errs = errs.Also(substitution.ValidateNoReferencesToUnknownVariables(script, "results", resultsNames).ViaField("script"))
 	return errs
 }
diff --git a/pkg/apis/pipeline/v1alpha1/stepaction_validation_test.go b/pkg/apis/pipeline/v1alpha1/stepaction_validation_test.go
index e1b3c0f3b8d..ee79af415a6 100644
--- a/pkg/apis/pipeline/v1alpha1/stepaction_validation_test.go
+++ b/pkg/apis/pipeline/v1alpha1/stepaction_validation_test.go
@@ -613,19 +613,6 @@ func TestStepActionSpecValidateError(t *testing.T) {
 			Message: `windows script support requires "enable-api-fields" feature gate to be "alpha" but it is "beta"`,
 			Paths:   []string{},
 		},
-	}, {
-		name: "step script refers to nonexistent result",
-		fields: fields{
-			Image: "my-image",
-			Script: `
-			#!/usr/bin/env bash
-			date | tee $(results.non-exist.path)`,
-			Results: []v1.StepResult{{Name: "a-result"}},
-		},
-		expectedError: apis.FieldError{
-			Message: `non-existent variable in "\n\t\t\t#!/usr/bin/env bash\n\t\t\tdate | tee $(results.non-exist.path)"`,
-			Paths:   []string{"script"},
-		},
 	}, {
 		name: "step script refers to nonexistent stepresult",
 		fields: fields{
diff --git a/pkg/apis/pipeline/v1beta1/stepaction_validation_test.go b/pkg/apis/pipeline/v1beta1/stepaction_validation_test.go
index 49efacdf91a..028fd7c2030 100644
--- a/pkg/apis/pipeline/v1beta1/stepaction_validation_test.go
+++ b/pkg/apis/pipeline/v1beta1/stepaction_validation_test.go
@@ -613,19 +613,6 @@ func TestStepActionSpecValidateError(t *testing.T) {
 			Message: `windows script support requires "enable-api-fields" feature gate to be "alpha" but it is "beta"`,
 			Paths:   []string{},
 		},
-	}, {
-		name: "step script refers to nonexistent result",
-		fields: fields{
-			Image: "my-image",
-			Script: `
-			#!/usr/bin/env bash
-			date | tee $(results.non-exist.path)`,
-			Results: []v1.StepResult{{Name: "a-result"}},
-		},
-		expectedError: apis.FieldError{
-			Message: `non-existent variable in "\n\t\t\t#!/usr/bin/env bash\n\t\t\tdate | tee $(results.non-exist.path)"`,
-			Paths:   []string{"script"},
-		},
 	}, {
 		name: "step script refers to nonexistent stepresult",
 		fields: fields{