Quantifying forest carbon storage to better manage climate change and its effects requires accurate estimation of forest structural parameters such as canopy height. Variables from remote sensing data and machine-learning models are tools that are being increasingly used for this purpose. This study modelled canopy height of forest-savannah mosaics in the Sudano-Guinean zone of Togo. Relative heights were extracted from GEDI and ICESat-2 products, which were combined with optical, radar and topographic variables for canopy height modelling. We tested four methods: Random Forest (RF); Support Vector Machine (SVM); Extreme Gradient Boosting (XGBoost); and Deep Neural Network (DNN). The RF algorithm obtained the best predictions using 98% relative height (RH98). The best performing result was obtained from variables extracted from GEDI data (r = 0.84; RMSE = 4.15 m; MAE = 2.36 m), compared to ICESat-2 (r = 0.65; RMSE = 5.10 m; MAE = 3.80 m). Models that were developed during the study, from the combination of multisource and multisensor data, can be applied over large areas in forest-savannah mosaics, thereby contributing to better monitoring of forest dynamics according to the objectives and requirements of REDD+.