Assessing sugarcane (Saccharum spp.) stalk growth helps to adequately manage the phenological stages of the crop. The aim of this study was to describe the height-growth curve of four sugarcane varieties (RB92579, RB93509, RB931530 and SP79-1011), in irrigated plant-cane and ratoon cane plantations, using the Logistic and Gompertz nonlinear models, while considering all deviations from assumptions. The model parameters were estimated based on the least squares method using the Gauss-Newton algorithm. To select the most suitable model, nonlinear measures, adjusted coefficient of determination (R2 adj), residual standard deviation (RSD), and corrected Akaike information criterion (AICc) were used. Based on the best models, stalk height growth rates and crop phenological stages were determined using critical points. All tests were performed in the free software environment for statistical computing and graphics, R. In general, the Logistic and Gompertz models without AR(1) better described the plant-cane and ratoon cane stalk height, respectively. All varieties showed early growth, and the RB92579 variety presented higher rates in both cycles.