Underground goaves were left in many mining areas due to the continuous exploitation of coal resources. These mining areas seriously affect the production safety of the mines and the safety of life and property of the surrounding residents. Enormous safety hazards will be generated if the goaf range is not accurately controlled. In this study, we proposed a method for the detection of goaves in coal mines with a complex terrain by combining controlled source audio-frequency magnetotellurics (CSAMT) and an activated-carbon method for radon measurement. The disadvantage of failing to interpret goaf depth for the activated-carbon method for radon measurement was compensated by the advantage of the capability of goaf-depth sounding for CSAMT. Subsequently, the reference for CSAMT data was provided by the immunity of the activated-carbon method for radon measurement to the influences of terrain, earth electricity, and EMF. On this basis, the proposed method was employed to detect the goaf of Houjiagou Coal Mine in Liulin County, China, and obtained reliable detection results. The feasibility of the comprehensive geophysical prospecting method in the complex terrain was verified and it provides a new reference for the detection method of goaves with other conditions.