Currently, precise estimation of understory terrain faces numerous technical obstacles and challenges that are difficult to overcome. To address this problem, this paper combines LiDAR, SAR, and DEM data to estimate understory terrain. The high multivariable-precision spaceborne LiDAR ICESat-2 data, validated by the NEON, are divided into training and validation sets. The training dataset is used as a dependent variable, the SRTM DEM and Sentinel-1 SAR data are regarded as independent variables, a total of 13 feature parameters with high contributions are extracted to construct a Multiple Linear Regression model (MLR), BAGGING model, Random Forest model (RF), and Long Short-Term Memory model (LSTM). The results indicate that the RF model exhibits the highest accuracy among the four models, with R2 = 0.999, RMSE = 0.701 m, and MAE = 0.249 m. Then, based on the RF model, the understory terrain at the regional scale is generated, and an accuracy assessment is performed using the validation dataset, yielding R2 = 0.999, RMSE = 0.847 m, and MAE = 0.517 m. Furthermore, this paper quantitatively analyzes the effects of slope, vegetation coverage, and canopy height on the estimation accuracy of understory terrain. The results show that as slope, and canopy height increase, the estimation accuracy of the RF model for understory terrain gradually decreases. The accuracy of the understory terrain estimated by the RF model is relatively stable and not easily affected by slope, vegetation coverage, and canopy height. The research on the estimation of understory terrain holds significant practical implications for forest resource management, ecological conservation, and biodiversity protection, as well as natural disaster prevention.