Do not rely exclusively on looking for malicious or malformed inputs. This is likely to miss at least one undesirable input, especially if the code's environment changes. This can give attackers enough room to bypass the intended validation. However, denylists can be useful for detecting potential attacks or determining which inputs are so malformed that they should be rejected outright.
When constructing OS command strings, use stringent allowlists that limit the character set based on the expected value of the parameter in the request. This will indirectly limit the scope of an attack, but this technique is less important than proper output encoding and escaping.
Note that proper output encoding, escaping, and quoting is the most effective solution for preventing OS command injection, although input validation may provide some defense-in-depth. This is because it effectively limits what will appear in output. Input validation will not always prevent OS command injection, especially if you are required to support free-form text fields that could contain arbitrary characters. For example, when invoking a mail program, you might need to allow the subject field to contain otherwise-dangerous inputs like ";" and ">" characters, which would need to be escaped or otherwise handled. In this case, stripping the character might reduce the risk of OS command injection, but it would produce incorrect behavior because the subject field would not be recorded as the user intended. This might seem to be a minor inconvenience, but it could be more important when the program relies on well-structured subject lines in order to pass messages to other components.
Even if you make a mistake in your validation (such as forgetting one out of 100 input fields), appropriate encoding is still likely to protect you from injection-based attacks. As long as it is not done in isolation, input validation is still a useful technique, since it may significantly reduce your attack surface, allow you to detect some attacks, and provide other security benefits that proper encoding does not address.