Christians Against Poverty (CAP) was speaking after new research by the national charity Turn2us has found that 48% of low income households are not making the most of what they are entitled to.
Rachel Gregory from the charity told Premier the numbers are alarming.
She said: "It's really shocking actually that it's that high.
"We know how badly families and households are really struggling to meet their basic living costs and this is money that they are entitled to and can really help them with all those things we have to buy - housing, food, all of that.
"That's money they should be getting and would really benefit from."
Nearly three-fifths, 57%, of those not receiving this support said they had been deterred from checking or claiming potential benefits entitlements because they did not think they would be eligible.
Plus over a fifth, 22%, of households with children said they were unsure of how or where to find out about this help, whilst a quarter, 25%, of people with disabilities felt recent welfare benefit changes have made it too difficult to apply.
Rachel Gregory told Premier attitudes can fuel this: "The way we often talk about people who receive benefits can be quite shaming.
"I think it's really important that we all acknowledge that this is support that as a society we are providing for each other.
"If you're entitled definitely claim it, there's no shame in that at all.
"It's money you're entitled to, money to support you, to help you live."
The report also found that 81% have not checked what welfare benefits they could be entitled to within the last year.
Listen to Premier's Hannah Tooley speak to Rachel Gregory here: