This dataset provides tree inventory, tree height, diameter at breast height (DBH), and estimated crown measurements from 30 plots located in the Tapajos National Forest, Para, Brazil collected in September 2010. The plots were located in primary forest, primary forest subject to reduced-impact selective logging (PFL) between 1999 and 2003, and secondary forest (SF) with different age and disturbance histories. Plots were centered on GLAS (the Geoscience Laser Altimeter System) LiDAR instrument footprints selected along two sensor acquisition tracks spanning a wide range in vertical structure and aboveground biomass.