Remote sensing measurements have been widely used to estimate the planetary boundary layer height (PBLHT). Each remote sensing approach offers unique strengths and faces different limitations. In this study, we use machine learning (ML) methods to produce a best-estimate PBLHT (PBLHT-BE-ML) by integrating four PBLHT estimates derived from remote sensing measurements at the Department of Energy (DOE) Atmospheric Radiation Measurement (ARM) Southern Great Plains (SGP) observatory. Three ML models—Random Forest (RF) Classifier, RF Regressor, and Light Gradient-Boosting Machine (LightGBM)—were trained on a dataset from 2017 to 2023 that included radiosonde, various remote sensing PBLHT estimates, and atmospheric meteorological conditions. Evaluations indicated that PBLHT-BE-ML from all three models improved alignment with PBLHT derived from Radiosonde data (PBLHT-Sonde), with LightGBM demonstrating the highest accuracy under both stable and unstable boundary layer conditions. Feature analysis revealed that the most influential input features at the SGP site were the PBLHT estimates derived from, a) potential temperature profiles retrieved using Raman Lidar (RL) and Atmospheric Emitted Radiance Interferometer (AERI) measurements (PBLHT-THERMO), b) vertical velocity variance profiles Doppler Lidar (PBLHT-DL), and c) aerosol backscatter profiles from Micropulse Lidar (PBLHT-MPL). The trained models were then used to predict PBLHT-BE-ML at a temporal resolution of 10 minutes, effectively capturing the diurnal evolution of PBLHT and its significant seasonal variations, with the largest diurnal variation observed over summer at the SGP site. We applied these trained models to data from the ARM Eastern Pacific Cloud Aerosol Precipitation Experiment (EPCAPE) field campaign (EPC), where the PBLHT-BE-ML, particularly with the LightGBM model, demonstrated improved accuracy against PBLHT-Sonde. Analyses of model performance at both the SGP and EPC sites suggest that expanding the training dataset to include various surface types, such as ocean and ice-covered areas, could further enhance ML model performance for PBLHT estimation across varied geographic regions.