A scissor lift with a height sensor system includes a scissors assembly including at least one scissor leg configured to lower and raise a platform, an angle sensor configured to sense the angular position of a pivot pin about which the scissor leg pivots, and a processor configured to calculate a height of the platform from the angular position sensed by the angle sensor. The processor may also be configured to control the lift actuator in response to the height of the platform calculated from the angular position sensed by the angular sensor. The angle sensor may be a magnetic angle sensor configured to sense the angle of a magnetic angular marker attached to the pivot pin.