Members of the U.N. committee of 18 independent experts visited Britain in October 2015 and the report was based on more than 200 interviews and some 3,000 pages of documentary evidence.
The 22-page report criticised welfare cuts and caps introduced under an austerity programme the government said would make the welfare system fairer and reduce benefit fraud.
"Persons with disabilities have been regularly portrayed negatively as being dependent or making a living out of benefits, committing fraud as benefit claimants, being lazy and putting a burden on taxpayers, who are paying 'money for nothing'," it said.
The allegation was unsubstantiated, but disabled people were subject to increasing hostility and aggressive behaviour.
The government had not factored disabled people's needs into its reforms, and cuts in housing benefits had caused high levels of stress and depression, the report said.
Programmes to encourage them to find work "had no visible impact", and many were driven into debt and forced to resort to using food banks. Labour's Shadow Work and Pensions Secretary Debbie Abrahams said:
"The has found today that there is reliable evidence that shows this Tory Government is responsible for grave violations of the rights of disabled people under its failing austerity plan.
"The UN report confirms that, despite Theresa May's warm words, this Government is failing sick and disabled people.
"Labour will transform our social security system to ensure that, like our NHS, it is there for us all in our time of need."