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The empty-space subsequent filling mining method is the main mining scheme for underground metal mines to achieve large-scale mechanized mining. The stage height, one of the main parameters of this method, affects the various production process aspects of the mine and influences the stability of the goaf. In order to determine the stage height scientifically and rationally in the empty-space subsequent filling mining method, a formula for the stabilized critical safe height of a high goaf in an underground metal mine was derived based on Pu's arch equilibrium theory, Bieniawski's pillar strength limit theory, and the Kastner equation and combined with the results of an orthogonal analysis to rank the importance of the main factors in the formula. A copper mine in Jiangxi Province was used as a case study, with the reliability of the formula verified by numerical simulation and industrial testing. The factors in the formula influencing the critical stabilized safe height of the goaf were, in descending order, the compressive strength of the rock body, the width of the two-step mining pillar, the width of the one-step mining room, the mining height, and the depth of mining. Based on the calculation results, the recommended stage heights are 30 m (−378 m middle section) and 25 m (−478 m middle section) in the area of poor rock body stability and 50 m in the area of better rock body stability. The simulation results show that the goaf is significantly affected by the compressive stress under the condition of a certain rock body stability and that the compressive stress increases with increasing goaf height. The minimum recommended values of the sidewall safety coefficients in areas of poor and better rock stability are 1.04 and 1.06, respectively. The volume deviation coefficients of the three industrial test mines were all controlled within 3%, indicating that no obvious collapse and destabilization phenomenon occurred in the goaf. This paper provides some theoretical and applied guidance for the stage height design of similar underground metal mines using the empty-space subsequent filling mining method. [ABSTRACT FROM AUTHOR]