I live in FL and also know 2 different families who have had their children removed due to "unsanitary conditions". I was at the home of one of those families about a week prior and yes it was cluttered, but nowhere NEAR the level of unsanitary CPS was claiming. It took this family 2 weeks to get their children back and that was only because they had a very very aggressive lawyer. The other had their children held hostage for nearly a week until they cleaned to the "satisfaction of the social worker" and even after CPS continued to "monitor" them and their home (no money for attorney) for nearly a year. CPS is a vile and despicable organization.
I know that CPS has been at the center of some high-profile (and some horribly tragic) cases throughout the country, and several cases in Michigan come to mind.
In 2012, Michigan finally changed their (unconstitutional) laws that had allowed for children to be removed from their parents' custody without a requirement that state officials prove a child was at substantial risk or imminent risk of harm (see MCL §712A.14 and Mich Ct R 3.963A).
What helped to spur the Governor's signature on the revised law was a case out of Ann Arbor in 2008, where a dad (University of Michigan professor Christopher Ratte) had his 7-year-old son taken from him and placed in foster care after Ratte gave his son a can of Mike's Hard Lemonade at a Tiger's game (Ratte was unaware that Mike's contained alcohol). CPS would not even release the son to the boy's mom or aunt, neither of whom were at the game.
The boy's mom was able to regain custody after several days with the help of U-M's Child Advocacy Clinic, under an agreement that the dad would move out of the home and only have supervised visits. This was, by the way, a dad who was close to his son and had been enjoying a day at the ballgame with him when the child was put in foster care.
In 2011, Ratte (et al) had help from the ACLU in suing CPS officials. The case can be accessed through the following link:
http://www.mied.uscourts.gov/Opinions/cohnpdf/11-11190.pdf.
There is a good discussion on privileges (specifically qualified immunity) which sort of applies to tarot_girl's question.