Mostly onto more forgiving surfaces.
Alan Magee was a turret gunner in WWII whose plane, and also importantly, his parachute, were both shot apart by the enemy. With his only other choice being to burn to death in the falling wreckage, he bailed out without a parachute, fell roughly 20,000 feet, and came crashing down through the skylight of the St. Nazaire train station, landing on the hard floor below (not exactly a forgiving surface). Alan couldn’t tell you how he managed to survive. He passed out in the high altitude and was unconscious when he hit.
Surprisingly, he wasn’t the only guy to basically get shot out of his bomber in WWII and live. The other guys did fall into snow, though, which is definitely a much more forgiving surface.
Even though he had a much softer landing, Nicholas Alkemade is still pretty noteworthy. When the order came to bail out of his plane, he found his parachute on fire. Like Alan, he was faced with the choice of jumping without a chute or burning to death in the falling plane, and chose to jump. Also like Alan, he fell roughly 20,000 feet and lost consciousness on the way down due to the altitude. Unlike Alan, he landed in fir trees, bushes, and a bit of snow, and walked away with some minor cuts and bruises and a slightly sprained knee. His biggest problem afterwards was convincing the Gestapo not to shoot him as a spy since they didn’t believe that he had just fallen out of a plane from 20,000 feet up and basically walked away with barely a scratch. Fortunately for Nicholas, they found the wreckage of his plane, along with the charred remains of his chute, exactly where he said it would be in the plane.
Ivan Chisov was a Russian navigator who, unlike the other guys, jumped with a perfectly good chute. He was afraid that if he popped his chute immediately, a pissed off German pilot would just shoot him as an easy falling target. So, what he planned on doing was dropping below the level of the battle and then popping his chute. What he actually did was pass out on the way down, and never opened his chute. Again, he fell roughly 20,000 feet or so (this was a common altitude for bombers if you are wondering why they all fell roughly the same height) and according to witnesses, he hit the side of a snowy ravine and bounced, rolled, and slid his way to the bottom, breaking several bones alone the way, but surviving.
So, relevant to this thread, there is no height (well, that a plane can reach) that you can fall from and have a 100 percent mortality rate. Apparently though, if you fall from roughly 20,000 feet or so, you won’t be conscious when you hit, so you won’t feel the impact. If you survive and wake up later, though, it’s probably going to hurt like a bitch. Alan and Ivan both spent months recovering from their injuries.