Spaceborne LiDAR has been widely used to obtain forest canopy heights over large areas, but it is still a challenge to obtain spatio-continuous forest canopy heights with this technology. In order to make up for this deficiency and take advantage of the complementary for multi-source remote sensing data in forest canopy height mapping, a new method to estimate forest canopy height was proposed by synergizing the spaceborne LiDAR (ICESat-2) data, Synthetic Aperture Radar (SAR) data, multi-spectral images, and topographic data considering forest types. In this study, National Geographical Condition Monitoring (NGCM) data was used to extract the distributions of coniferous forest (CF), broadleaf forest (BF), and mixed forest (MF) in Hua’ nan forest area in Heilongjiang Province, China. Accordingly, the forest canopy height estimation models for whole forest (all forests together without distinguishing types, WF), CF, BF, and MF were established, respectively, by Radom Forest (RF) and Gradient Boosting Decision Tree (GBDT). The accuracy for established models and the forest canopy height obtained based on estimation models were validated consequently. The results showed that the forest canopy height estimation models considering forest types had better performance than the model grouping all types of forest together. Compared with GBDT, RF with optimal variables had better performance in forest canopy height estimation with Pearson’s correlation coefficient (R) and the root-mean-squared error (RMSE) values for CF, BF, and MF of 0.72, 0.59, 0.62, and 3.15, 3.37, 3.26 m, respectively. It has been validated that a synergy of ICESat-2 with other remote sensing data can make a crucial contribution to spatio-continuous forest canopy height mapping, especially for areas covered by different types of forest.