Joan of Arc was 5' 2" tall. A French scholar, Adrian Harmand in 1929, found the record of several articles of clothing ordered for Joan of Arc by the imprisoned (in England) Duke of Orleans for Joan's heroic efforts in raising the seige of Orleans in May, 1429. One of the articles was a robe, which was to be made from "fine Brussels cloth, 80 cm. long"). A robe would have extended from Joan's shoulders to her knee (all male garb in the Middle Ages ended at the knee). From this Harmand calculated Joan's height to be 1.58 meters, or approximately 5' 2" tall.
Source: Joan of Arc Her Story, by Regine Pernoud, 1998.