Truncation will generally be obvious, as well as corruption of the .bim and .fam text files. However, something like md5sum is your best choice for detecting non-truncating .bed corruption that occurs after the first 3 bytes; unfortunately, such a .bed file is still valid, especially if the number of samples is a multiple of 4.
(Non-truncating .pgen corruption is overwhelmingly likely to make the file invalid.)