Cognitive radio (CR) is a wireless technology that is used to overcome the spectrum scarcity problem. CR includes several stages, spectrum sensing is the first stage in the CR cycle. Traditional spectrum sensing (SS) techniques have many challenges in the wideband spectrum. CR security is an important problem, since when an attacker from outside the network access the sensing information this produces an increase in sensing time and reduces the opportunities for exploiting vacant band. Compressive sensing (CS) is proposed to capture all the wideband spectrum at the same time to solve the challenges and improve the performance in the traditional techniques and then one of the traditional SS techniques are applied to the reconstructed signal for detection purpose. The sensing matrix is the core of CS must be designed in a way that produces a low reconstruction error with high compression. There are many types of sensing matrices, the chaotic matrix is the best type in terms of security, memory storage, and system performance. Few works in the literature use the chaotic matrix in CS based CR and these works have many challenges: they used sample distance in the chaotic map to generate a chaotic sequence which consumes high resources, they did not take into consideration the security in reporting channel, and they did not measure their works using real primary user (PU) signal of a practical application under fading channel and low SNR values. In this paper, we propose a chaotic CS based collaborative scenario to solve all challenges that have been presented. We proposed a chaotic matrix based on the Henon map and use the differential chaotic shift keying (DCSK) modulation to transmit the measurement vector through the reporting channel to increase the security and improve the performance under fading channel. The simulation results are tested based on a recorded real-TV signal as PU and Compressive Sampling Matching Pursuit (CoSaMP) recovery algorithm under AWGN and TDL-C fading channels in collaborative and non-collaborative scenarios. The performance of the proposed system has been measured using recovery error, mean square error (MSE), derived probability of detection (Pdrec), and sensitivity to initial values. To measure the improvement introduced by the proposed system, it is evaluated in comparison with selected chaotic and random matrices. The results show that the proposed system provides low recovery error, MSE, with high Pdrec, security, and compression under SNR equal to −30 dB in AWGN and TDL-C fading channels as compared to other matrices in the literature.