More of the Amazon rainforest is disturbed each year than completely deforested, but the impact of these disturbances on the carbon cycle remains poorly understood. Recent algorithmic advances using optical and radar remote sensing have improved detection of disturbances at fine spatiotemporal resolution, but quantifying changes in forest structure and biomass associated with these detected disturbances has proven challenging. The Global Ecosystem Dynamics Investigation (GEDI), a spaceborne lidar mission collecting data from 2019 to 2023, provides an opportunity to address this problem. GEDI captured billions of measurements of forest height, plant area, and understory structure within ∼25-m diameter footprints scattered across the tropics. Though the instrument had no guaranteed repeat cycle, it sometimes sampled nearby locations twice; some of these spatially near-coincident footprints happened to measure forest structure before and after a detected disturbance, providing information on how disturbance affected aboveground biomass. In this study, we developed an efficient general-purpose open-source pipeline for identifying spatially coincident footprints, which is a computationally complex task, and used the pipeline to find over 13,700 footprint pairs with intervening disturbance events across the Amazon biome. We also identified a set of ∼65,000 spatially near-coincident footprint pairs that lacked an intervening disturbance but came from regions with similar disturbance threat; these provided a control dataset to evaluate the effectiveness of estimating forest structure and biomass changes with nearby footprints. Analysis of this Amazon-wide dataset demonstrated that GEDI was able to measure statistically significant canopy height and biomass deficits following non-stand-replacing disturbances as small as 900 m2 (30 m × 30 m). GEDI's unique three-dimensional view of forest structure also reflected the effects of different intensities of fire disturbance, including 20% of burned areas where the upper canopy retained most of its height, but the understory suffered substantial foliage losses. Finally, we modeled the relationship between Landsat and Sentinel-1 disturbance detection parameters and GEDI-estimated percent biomass loss, showing that certain satellite-derived intensity metrics are correlated with increasing biomass loss and identifying temporal trends in biomass loss and recovery following disturbance. This work represents an important step towards the development of a pan-tropical, spatially explicit system for tracking carbon losses and structural changes arising from forest disturbance.