Sugar beet is a major sugar crop in temperate regions and rapid, high-throughput, and accurate estimation of field phenotypes is essential for variety selection and production optimization. In this paper, ten commercial sugar beet varieties adapted to high latitudes are investigated using unmanned aerial vehicle (UAV) based red-green-blue (RGB), multispectral, and thermal infrared imaging across multiple growth stages. Canopy structural, texture, spectral, and temperature features are extracted, and three machine learning algorithms, random forest (RF), partial least squares (PLS), and support vector machine (SVM), are used to predict sugar content, root fresh weight, and yield. The results show that all three methods estimate sugar content well, with relative root mean square error (rRMSE) values below 11.0%, while RF and PLS outperform SVM. Multispectral features provide higher accuracy than RGB features, and multi-sensor feature combinations generally improve sugar content prediction compared with single-sensor inputs. For root fresh weight, SVM slightly outperforms RF and PLS, and RGB features are more informative than multispectral features. The integration of thermal infrared features does not notably improve RF or PLS models, but the combination of multispectral and thermal infrared features achieves the best SVM performance ( R²=0.58, RMSE = 75.3 g, and rRMSE = 23.7%). For yield estimation, RF achieves the highest accuracy, with rRMSE values ranging from 15.4% to 18.8%. Yield prediction accuracy increases as the time of image acquisition approaches harvest, and combining multi-temporal data from periods close to harvest further improves model performance. Overall, multi-sensor UAV data can effectively estimate sugar content, root fresh weight, and yield in sugar beet, providing a useful approach for phenotypic analysis, precision management, and variety selection.