Accurately estimating above-ground biomass (AGB) is critical for understanding carbon storage and ecosystem dynamics, which are essential for sustainable forest management and climate change mitigation. This study evaluated the performance of four machine learning models XGBoost, Random Forest (RF), Gradient Boosting (GBM), and Support Vector Machine (SVM) in predicting AGB in Miombo Woodlands using UAV-derived spectral and height data. A total of 52 model configurations were tested, incorporating up to five predictor variables. XGBoost demonstrated superior performance, explaining 99% of the variance (R² = 0.99), with a low RMSE of 9.82 Mg/ha and an rRMSE of 8.25%. Although it showed a slight underestimation bias (-2.48), XGBoost proved highly reliable in handling complex ecosystems like Miombo. Random Forest also performed well, explaining 91% of the variance (R² = 0.91), though it exhibited higher error rates (RMSE = 30.81 Mg/ha). In contrast, GBM and SVM showed weaker performance, with R² values of 0.23 and 0.81, respectively. This study highlights the potential of UAV data combined with advanced machine learning models, particularly XGBoost, for accurate biomass estimation. Future research should explore integrating UAV data with technologies like LiDAR or satellite imagery to further improve prediction accuracy across diverse ecosystems.