Abstract Background Precision agriculture is an emerging research field that relies on monitoring and managing field variability in phenotypic traits. An important phenotypic trait is biomass, a comprehensive indicator that can reflect crop yields. However, non-destructive biomass estimation at fine levels is unknown and challenging due to the lack of accurate and high-throughput phenotypic data and algorithms. Results In this study, we evaluated the capability of terrestrial light detection and ranging (lidar) data in estimating field maize biomass at the plot, individual plant, leaf group, and individual organ (i.e., individual leaf or stem) levels. The terrestrial lidar data of 59 maize plots with more than 1000 maize plants were collected and used to calculate phenotypes through a deep learning-based pipeline, which were then used to predict maize biomass through simple regression (SR), stepwise multiple regression (SMR), artificial neural network (ANN), and random forest (RF). The results showed that terrestrial lidar data were useful for estimating maize biomass at all levels (at each level, R2 was greater than 0.80), and biomass estimation at leaf group level was the most precise (R2 = 0.97, RMSE = 2.22 g) among all four levels. All four regression techniques performed similarly at all levels. However, considering the transferability and interpretability of the model itself, SR is the suggested method for estimating maize biomass from terrestrial lidar-derived phenotypes. Moreover, height-related variables showed to be the most important and robust variables for predicting maize biomass from terrestrial lidar at all levels, and some two-dimensional variables (e.g., leaf area) and three-dimensional variables (e.g., volume) showed great potential as well. Conclusion We believe that this study is a unique effort on evaluating the capability of terrestrial lidar on estimating maize biomass at difference levels, and can provide a useful resource for the selection of the phenotypes and models required to estimate maize biomass in precision agriculture practices.