I have a site with the following structure:
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NOTE: This answer is applicable to legacy browsers without support for the Flexbox standard. For a modern approach, see: https://stackoverflow.com/a/23300532/1155721
I suggest you take a look at Equal Height Columns with Cross-Browser CSS and No Hacks.
Basically, doing this with CSS in a browser compatible way is not trivial (but trivial with tables) so find yourself an appropriate pre-packaged solution.
Also, the answer varies on whether you want 100% height or equal height. Usually it's equal height. If it's 100% height the answer is slightly different.