Often with night shots where you have to 'guess' at the focus and just set to infinity on the lens assuming it will work, you find things can be a little out of focus. Most AF lenses actually allow the focus to be set just a hair PAST infinity - most seem to agree that this allows the AF system the adjustment room it needs at the infinity end to fine tune and adjust for infinity, with the problem being when you switch to manual focus and go all the way to the infinity stop, you're actually a bit past and now out of focus.
You can try to guess where the actual infinity focus is, or test it in daylight conditions...and maybe mark it on the lens for reference. The other suggestion being live view - which can sometimes help as the live-view off a main sensor will often be able to gain up the view significantly allowing you to see objects you couldn't with the naked eye. Plus you usually have the ability to magnify the view on the LCD to allow you to zoom in tight on a very small light source that is otherwise hard to discern, and help dial in the focus accurately.
Sometimes old manual lenses are at a bit of an advantage here, as infinity is usually pretty accurate and there's no extra play beyond infinity - I find shooting manual lenses at night I can slam them to the focus stop point of the lens and fire, and know I'm at proper infinity focus. With my AF lenses, I have to be more cognizant of the play.