In 2015, Felsner, Trotter, and Wiechert showed that posets with outerplanar cover graphs have bounded dimension. We generalise this result to posets with $k$-outerplanar cover graphs. Namely, we show that posets with $k$-outerplanar cover graph have dimension $\mathcal{O}(k^3)$. As a consequence, we show that every poset with a planar cover graph and height $h$ has dimension $\mathcal{O}(h^3)$. This improves the previously best known bound of $\mathcal{O}(h^6)$ by Kozik, Micek and Trotter.