A method of valve lift failure detection may include determining first and second intake air pressures in an engine having intake valve lifters that selectively operate intake valves in first and second lift modes. The first intake air pressure may correspond to an intake stroke of a first piston of the engine when the engine is commanded to operate in the first lift mode and the second intake air pressure may correspond to an intake stroke of a second piston of the engine when the engine is commanded to operate in the first lift mode. The method may further include determining a difference between the first and second intake air pressures and diagnosing an intake valve lifter failure when the difference exceeds a predetermined limit.