Delays in rolling out the National Disability Insurance Scheme meant that as at September 34,500 people who should have been participating were yet to access the scheme.
Rollout started in mid-2016 and 475,000 people are expected to participate when the transition is complete in 2020.
But only the ACT has completed the rollout and in every other jurisdiction participant intake has fallen behind schedule, a parliamentary committee reported.
Participants faced delays accessing the scheme, having access plans approved and activated, and then in accessing services.
Disability workforce shortages had been a "significant barrier" to the delivery of services across every state and territory, while administrative burdens also impeded service providers, the committee discovered.
"(We) heard that the plan review process is too lengthy and can jeopardise participants' ability to access services," The committee said.
The committee put forward 26 recommendations including that the National Disability Insurance Agency focus "all necessary resources and efforts" on reducing waiting times at all stages.
There should be an immediate national audit of Australian, state and territory disability support services transitioning to the scheme to find and fix gaps in services, the committee said.
