Forests are invaluable natural resources that provide essential ecosystem services, and their carbon storage capacity is critical for climate mitigation efforts. Quantifying this capacity would require accurate estimation of forest structural attributes for deriving their aboveground biomass (AGB). Traditional field measurements, while precise, are labor-intensive and often spatially limited. Handheld Mobile Laser Scanning (HMLS) offers a rapid alternative for building forest inventories; however, its effectiveness and accuracy in diverse subtropical forests with complex canopy structure remain under-investigated. In this study, we employed both HMLS and traditional surveys within structurally complex subtropical forest plots, including old-growth forests (Fung Shui Woods) and secondary forests. These forests are characterized by dense understories with abundant shrubs and lianas, as well as high stem density, which pose challenges in Light Detection and Ranging (LiDAR) point cloud data processing. We assessed tree detection rates and extracted tree attributes, including diameter at breast height (DBH) and canopy height. Additionally, we compared tree-level and plot-level AGB estimates using allometric equations. Our findings indicate that HMLS successfully detected over 90% of trees in both forest types and precisely measured DBH (R² > 0.96), although tree height detection exhibited relatively higher uncertainty (R² > 0.35). The AGB estimates derived from HMLS were comparable to those obtained from traditional field measurements. By producing highly accurate estimates of tree attributes, HMLS demonstrates its potential as an effective and non-destructive method for rapid forest inventory and AGB estimation in subtropical forests, making it a competitive option for aiding carbon storage estimations in complex forest environments.