Height of woody plants is a defining characteristic of ecosystems because height responds climate, soil and disturbance. Orbiting LiDAR instruments, ICESat-2 and GEDI, can provide near-global datasets of plant height at high resolution. We evaluate canopy height measurements from ICESat-2 and GEDI with airborne LiDAR in six study sites across different biomes with mean canopy height of 0.5-40 m. ICESat-2 and GEDI provide reliable estimates for the relative height with RMSE and MAE of 7.49 and 4.64 m (ICESat-2) and 6.52 and 4.08 m (GEDI) for 98th percentile relative heights. Both sensors overestimate the height of short shrubs (1-2 m at 5 m reference height), underestimate that of tall trees (by 6-7 m at 40 m reference height) and are highly biased (>3 m) for reference height < 5 m. Height estimates for both sensors were only weakly sensitive to canopy cover and terrain slope with lower RMSE for night compared to day samples (ICESat-2: 5.57 m, day: 6.82 m; GEDI night: 5.94 m, day: 7.03 m). For GEDI, day versus night differences had little effect on bias. Accuracy of ICESat-2 and GEDI canopy heights varies among biomes, and the highest MAE was observed in the tallest forest (GEDI: 7.85 m; ICESat-2: 7.84 m (night) and 12.83 m (day)).