diff --git a/hack/make-rules/test-cmd-util.sh b/hack/make-rules/test-cmd-util.sh
index a0632ef62b9..f950ae633eb 100755
--- a/hack/make-rules/test-cmd-util.sh
+++ b/hack/make-rules/test-cmd-util.sh
@@ -1249,13 +1249,13 @@ run_kubectl_run_tests() {
   kubectl delete deployment nginx-apps "${kube_flags[@]}"
 
   # Pre-Condition: no Job exists
-  kube::test::get_object_assert cronjob.v1beta1.batch "{{range.items}}{{$id_field}}:{{end}}" ''
+  kube::test::get_object_assert cronjobs "{{range.items}}{{$id_field}}:{{end}}" ''
   # Command
   kubectl run pi --schedule="*/5 * * * *" --generator=cronjob/v1beta1 "--image=$IMAGE_PERL" --restart=OnFailure -- perl -Mbignum=bpi -wle 'print bpi(20)' "${kube_flags[@]}"
   # Post-Condition: CronJob "pi" is created
-  kube::test::get_object_assert cronjob.v1beta1.batch "{{range.items}}{{$id_field}}:{{end}}" 'pi:'
+  kube::test::get_object_assert cronjobs "{{range.items}}{{$id_field}}:{{end}}" 'pi:'
   # Clean up
-  kubectl delete cronjob.v1beta1.batch pi "${kube_flags[@]}"
+  kubectl delete cronjobs pi "${kube_flags[@]}"
 
   set +o nounset
   set +o errexit
diff --git a/staging/src/k8s.io/client-go/discovery/restmapper.go b/staging/src/k8s.io/client-go/discovery/restmapper.go
index 756669001f3..9651716bd13 100644
--- a/staging/src/k8s.io/client-go/discovery/restmapper.go
+++ b/staging/src/k8s.io/client-go/discovery/restmapper.go
@@ -49,6 +49,7 @@ func NewRESTMapper(groupResources []*APIGroupResources, versionInterfaces meta.V
 	for _, group := range groupResources {
 		groupPriority = append(groupPriority, group.Group.Name)
 
+		// Make sure the preferred version comes first
 		if len(group.Group.PreferredVersion.Version) != 0 {
 			preferred := group.Group.PreferredVersion.Version
 			if _, ok := group.VersionedResources[preferred]; ok {
@@ -72,6 +73,21 @@ func NewRESTMapper(groupResources []*APIGroupResources, versionInterfaces meta.V
 				continue
 			}
 
+			// Add non-preferred versions after the preferred version, in case there are resources that only exist in those versions
+			if discoveryVersion.Version != group.Group.PreferredVersion.Version {
+				resourcePriority = append(resourcePriority, schema.GroupVersionResource{
+					Group:    group.Group.Name,
+					Version:  discoveryVersion.Version,
+					Resource: meta.AnyResource,
+				})
+
+				kindPriority = append(kindPriority, schema.GroupVersionKind{
+					Group:   group.Group.Name,
+					Version: discoveryVersion.Version,
+					Kind:    meta.AnyKind,
+				})
+			}
+
 			gv := schema.GroupVersion{Group: group.Group.Name, Version: discoveryVersion.Version}
 			versionMapper := meta.NewDefaultRESTMapper([]schema.GroupVersion{gv}, versionInterfaces)
 
diff --git a/staging/src/k8s.io/client-go/discovery/restmapper_test.go b/staging/src/k8s.io/client-go/discovery/restmapper_test.go
index 338925f1b74..f2956be3bc6 100644
--- a/staging/src/k8s.io/client-go/discovery/restmapper_test.go
+++ b/staging/src/k8s.io/client-go/discovery/restmapper_test.go
@@ -67,6 +67,32 @@ func TestRESTMapper(t *testing.T) {
 				},
 			},
 		},
+
+		// This group tests finding and prioritizing resources that only exist in non-preferred versions
+		{
+			Group: metav1.APIGroup{
+				Name: "unpreferred",
+				Versions: []metav1.GroupVersionForDiscovery{
+					{Version: "v1"},
+					{Version: "v2beta1"},
+					{Version: "v2alpha1"},
+				},
+				PreferredVersion: metav1.GroupVersionForDiscovery{Version: "v1"},
+			},
+			VersionedResources: map[string][]metav1.APIResource{
+				"v1": {
+					{Name: "broccoli", Namespaced: true, Kind: "Broccoli"},
+				},
+				"v2beta1": {
+					{Name: "broccoli", Namespaced: true, Kind: "Broccoli"},
+					{Name: "peas", Namespaced: true, Kind: "Pea"},
+				},
+				"v2alpha1": {
+					{Name: "broccoli", Namespaced: true, Kind: "Broccoli"},
+					{Name: "peas", Namespaced: true, Kind: "Pea"},
+				},
+			},
+		},
 	}
 
 	restMapper := NewRESTMapper(resources, nil)
@@ -123,6 +149,16 @@ func TestRESTMapper(t *testing.T) {
 				Kind:    "Job",
 			},
 		},
+		{
+			input: schema.GroupVersionResource{
+				Resource: "peas",
+			},
+			want: schema.GroupVersionKind{
+				Group:   "unpreferred",
+				Version: "v2beta1",
+				Kind:    "Pea",
+			},
+		},
 	}
 
 	for _, tc := range kindTCs {
diff --git a/test/e2e/kubectl/kubectl.go b/test/e2e/kubectl/kubectl.go
index 8eea0e53eab..734248ba764 100644
--- a/test/e2e/kubectl/kubectl.go
+++ b/test/e2e/kubectl/kubectl.go
@@ -234,7 +234,7 @@ var _ = SIGDescribe("Kubectl alpha client", func() {
 		})
 
 		AfterEach(func() {
-			framework.RunKubectlOrDie("delete", "cronjob.v2alpha1.batch", cjName, nsFlag)
+			framework.RunKubectlOrDie("delete", "cronjobs", cjName, nsFlag)
 		})
 
 		It("should create a CronJob", func() {
@@ -1380,7 +1380,7 @@ metadata:
 		})
 
 		AfterEach(func() {
-			framework.RunKubectlOrDie("delete", "cronjob.v1beta1.batch", cjName, nsFlag)
+			framework.RunKubectlOrDie("delete", "cronjobs", cjName, nsFlag)
 		})
 
 		It("should create a CronJob", func() {