Camless actuation offers programmable flexibility in controlling engine valve events. However, a full range of engine benefits will only be available, if the actuation system can control lift profile characteristics within a particular lift event. Control of the peak value of valve lift is a first step in controlling the profile. The paper presents an adaptive feedback control of valve lift for a springless electrohydraulic valvetrain. The adaptive control maintains peak value of lift in presence of variations in engine speed, hydraulic fluid temperature and manufacturing variability of valve assemblies. The control design includes a reduced-order model of the system dynamics. Experimental results show dynamic behavior under various operating and environmental conditions and demonstrate advantages of adaptive control over the non-adaptive type.