Timely access to crop above-ground biomass (AGB) information is crucial for estimating crop yields and managing water and fertilizer efficiently. Unmanned aerial vehicle (UAV) imagery offers promising avenues for AGB estimation due to its high efficiency and flexibility. However, the accuracy of these estimations can be influenced by various factors, including crop growth stages, the spectral resolution of UAV sensors, and flight altitudes. These factors need thorough investigation, especially in diversified cropping systems where crop diversity and growth stages interplay complexly, challenging the accuracy of AGB estimation. This study aims to estimate AGB of oats planted under different agricultural regimes—monoculture, crop rotation, and intercropping—at various growth stages (jointing, flowering, and grain-filling) and across all stages combined, using multispectral and RGB UAV images collected at different flight altitudes (25 m, 50 m, and 100 m). Three feature selection methods—maximal information coefficient (MIC), least absolute shrinkage and selection operator (LAS), and recursive feature elimination (RFE)—were tested. Four machine learning models—ridge regression (RR), multilayer perceptron (MLP), light gradient boosting machine (LGBM), and extreme gradient boosting (XGBoost)—were used for estimating AGB. Each feature selection method was combined with each machine learning model (e.g., MIC-RR, MIC-MLP, MIC-LGBM, MIC-XGBoost, LAS-RR) to evaluate their performance. Results revealed that the highest accuracy in AGB estimation was achieved with images acquired at a flight altitude of 25 m. The RFE-MLP model demonstrated superior results during the jointing stage (R² = 0.84, root mean squared error (RMSE) = 217.45 kg/ha, root mean squared logarithmic error (RMSLE) = 0.16, mean absolute percentage error (MAPE) = 4.15 %), the LAS-RR model excelled in the flowering stage (R² = 0.85, RMSE = 263.03 kg/ha, RMSLE = 0.05, MAPE = 14.44 %), and the RFE-XGBoost model was most effective during the grain-filling stage (R² = 0.68, RMSE = 865.03 kg/ha, RMSLE = 0.12, MAPE = 8.88 %). For cross-stage modelling, the RFE-MLP achieved remarkable results (R² = 0.93, RMSE = 680.44 kg/ha, RMSLE = 0.16, MAPE = 12.12 %). This study demonstrates the efficacy of combining feature selection methods with machine learning algorithms to enhance the accuracy of oat AGB estimations. The involvement of multiple cropping patterns enhances the generalizability of our findings, facilitating real-time and rapid monitoring of crop growth in future diversified cropping systems.