One of the more interesting things a gymnast ever taught me is how to properly jump, and properly land. It's a pretty deep topic, a lot of physics, and the like. But the bare bones of it is that with good training, and a moment's preparation before a jump, one can fall quite a fair distance with minimal risk of injury in the process if they know -how-. [Or get lucky.]
A lot of it has to do with how you land, stiff joints, poor balance, or the inability to properly roll out the impact can really ruin your day, even from a short fall. If you tense, panic, or just plain have no say over what part of you is touching the ground first, you're going to be worse for the wear.
But a gymnast, a free runner, a track team jumper, a dancer, anyone who's made it through military training (Especially those prone to jumping out of planes!] all of these people probably have a good idea of what they're doing, what they need to do to get out of it with working legs.
So my proposal is one of these, or something akin to it:
1: A skill specifically for landing that reduces fall damage by one story. A single story fall is fine. Two story fall becomes one, in terms of damage. Three would be as [almost] invariably fatal as a normal two story fall.
2: Nimble adds a new bonus, reducing fall damage overall by X% by level, effectively cutting it by 50% at max.