Numbers 25:15 identifies Zur as the father of Cozbi, linking him to the Baal-Peor incident that led to the campaign against Midian.

Numbers 25:18 explains the Midianite deception at Peor, which provoked God's command to attack Midian—culminating in these kings' deaths.

Joshua 13:21 lists the same five Midianite kings—Evi, Rekem, Zur, Hur, Reba—confirming their defeat under Moses.

Joshua 13:22 records Balaam's death by the sword, paralleling this verse's account of him being killed with the Midianite kings.

2 Peter 2:15 explicitly names Balaam, who loved unrighteous wages, connecting his moral failure to his death here.

Jude 1:11 mentions Balaam's error for profit, directly referencing the same event and its consequences.

Revelation 2:14 cites the doctrine of Balaam, who taught Balak to ensnare Israel, leading to his judgment here.

In Psalm 83:9, the defeat of Midian is invoked as a model for God's judgment, directly referencing the event described here.