LiDAR remote sensing data combined with machine learning (ML) techniques have presented great potential for large-scale modeling of tropical forest attributes. However, the large amount of information that can be derived from an aerial LiDAR survey, summed with the intrinsic heterogeneity of tropical environments (e.g., the Amazon), makes it a challenge to accurately estimate forest biophysical variables. The aim of our work is to investigate the potential and accuracy of different ML techniques and a generalized linear model (GLM) to learn the relationships between LiDAR-derived metrics and forest inventory data for aboveground biomass (AGB) prediction in Amazon forest sites under selective logging regimes. The predictive performance of three ML techniques, namely random forest (RF), support vector machine (SVM), and artificial neural network (ANN), was compared against result from the GLM technique, across 85 sample plots. Interestingly, the GLM retrieved the most accurate estimations of forest AGB (rho Spearman’s coefficient = 0.87), compared with the ML techniques (RF = 0.77, SVM = 0.67, and ANN = 0.50). A number of possible factors affecting such results are listed and discussed in the text, including sample size and number of predictor variables. Continued research is necessary to improve the confidence of AGB estimation, especially over complex forest structures.