diff --git a/Gems/PhysX/Code/Editor/DebugDraw.cpp b/Gems/PhysX/Code/Editor/DebugDraw.cpp
index 0af5822edf..ca5d4e1694 100644
--- a/Gems/PhysX/Code/Editor/DebugDraw.cpp
+++ b/Gems/PhysX/Code/Editor/DebugDraw.cpp
@@ -687,14 +687,19 @@ namespace PhysX
             [[maybe_unused]] const AZ::Vector3& colliderScale,
             [[maybe_unused]] const bool forceUniformScaling) const
         {
+            auto heights = heightfieldShapeConfig.GetSamples();
+
+            if (heights.empty())
+            {
+                return;
+            }
+
             const int numColumns = heightfieldShapeConfig.GetNumColumns();
             const int numRows = heightfieldShapeConfig.GetNumRows();
 
             const float minXBounds = -(numColumns * heightfieldShapeConfig.GetGridResolution().GetX()) / 2.0f;
             const float minYBounds = -(numRows * heightfieldShapeConfig.GetGridResolution().GetY()) / 2.0f;
 
-            auto heights = heightfieldShapeConfig.GetSamples();
-            
             for (int xIndex = 0; xIndex < numColumns - 1; xIndex++)
             {
                 for (int yIndex = 0; yIndex < numRows - 1; yIndex++)
diff --git a/Gems/PhysX/Code/Source/EditorHeightfieldColliderComponent.cpp b/Gems/PhysX/Code/Source/EditorHeightfieldColliderComponent.cpp
index c6def5f0ab..292267cc5b 100644
--- a/Gems/PhysX/Code/Source/EditorHeightfieldColliderComponent.cpp
+++ b/Gems/PhysX/Code/Source/EditorHeightfieldColliderComponent.cpp
@@ -211,7 +211,12 @@ namespace PhysX
     {
         ClearHeightfield();
         InitHeightfieldShapeConfiguration();
-        InitStaticRigidBody();
+
+        if (!m_shapeConfig->GetSamples().empty())
+        {
+            InitStaticRigidBody();
+        }
+
         Physics::ColliderComponentEventBus::Event(GetEntityId(), &Physics::ColliderComponentEvents::OnColliderChanged);
     }
 
diff --git a/Gems/PhysX/Code/Source/HeightfieldColliderComponent.cpp b/Gems/PhysX/Code/Source/HeightfieldColliderComponent.cpp
index b219253b6f..9076afeab9 100644
--- a/Gems/PhysX/Code/Source/HeightfieldColliderComponent.cpp
+++ b/Gems/PhysX/Code/Source/HeightfieldColliderComponent.cpp
@@ -150,7 +150,13 @@ namespace PhysX
     {
         ClearHeightfield();
         InitHeightfieldShapeConfiguration();
-        InitStaticRigidBody();
+
+        Physics::HeightfieldShapeConfiguration& configuration = static_cast<Physics::HeightfieldShapeConfiguration&>(*m_shapeConfig.second);
+        if (!configuration.GetSamples().empty())
+        {
+            InitStaticRigidBody();
+        }
+
         Physics::ColliderComponentEventBus::Event(GetEntityId(), &Physics::ColliderComponentEvents::OnColliderChanged);
     }