Background: In the Sahel, one of the largest semi-arid areas in the world, pastoral livestock is the main source of protein for the local population. The quantification of herbaceous biomass in the Sahelian rangelands is of major importance since it provides food for the livestock. The main method used to monitor the biomass consists of cutting, drying, and weighting it. However, indirect methods are available and allow a reliable biomass estimation. Methods: In this study, we developed a non-destructive method for estimating herbaceous biomass for the Sahelian rangelands based on measurements of its height and coverage. Results: Results show that the fit is better in the fenced area. The volume index (height × coverage) provides a better biomass prediction with relative differences between measured and predicted biomass of 11% in 2017 and 8% in 2019. Conclusions: Monitoring herbaceous biomass without destroying it is possible by measuring only its height and coverage.