I don't know how you are playing.
Most peoples deaths happen during battles in this game, NOT because they fall. I only died a couple of times because of fall damage only because I was inpatient.
Here is a solution - stop rushing and be more careful with your surroundings.
And here is another bonus solution....don't play on permadeath! and don't argue against it if sadomasochists like me yearn for it.
It really depends on the environment. Like hell fighting wraiths w/ a room of poison cloud, a treasure near the water thinking there are no monster then suddenly drowners would swarm in and fighting humans w/ no room to dodge.
Some of the environment and design in the game is deadly.