Savannas cover more than 20% of the Earth and account for the third largest stock of global aboveground biomass yet estimates of their above ground biomass density (AGBD) are very inaccurate. The Global Ecosystem Dynamic Investigation (GEDI) sensor provides near-global full-waveform LiDAR data with 25 m footprints, from which various structural metrics are derived that are used to predict footprint level AGBD. The current GEDI L4A AGBD product uses a comprehensive Forest Structure and Biomass Database (FSBD) to develop models for specific plant functional types and geographic regions, but southern African savannas have been underrepresented in the reference data. The objectives of this study were to (i) validate GEDI L4A AGBD in South African savannas using field measurements and ALS datasets and (ii) develop and evaluate local GEDI footprint-level AGBD estimates from multiple L2A and L2B metrics. The local GEDI AGBD models outperformed GEDI L4A AGBD (R2 = 0.42, RMSE = 12 Mg/ha, %RMSE = 79.5%) with higher R2 and smaller error measures. The local GEDI AGBD using a random forest model (RF) had the highest R2 of 0.71 and lowest %RMSE of 53.3%, while the generalized linear model (GLM) results provided the lowest Relative Mean Systematic Deviation (RMSD) of 9.2%, which was half that of RF model. L4A significantly underestimated AGBD with an RMSD up to −37%. This highlights the importance and benefits of local calibration of biomass models to unlock the full potential of GEDI metrics for estimating AGBD. The field and ALS data have subsequently been contributed to the GEDI FSBD and should be used in calibration of future versions of GEDI L4A AGBD product. This research paves the way for the integration of the local GEDI AGBD estimates with other sensors, notable the eminent NISAR mission, to derive regional to global gridded AGBD products that will enable the monitoring of savanna carbon stocks.