The normal height for a storage bench with a shoe rack is between 18”-22”, which is about 10” shorter than that of a standard dining room table. This height allows you to sit comfortably so that you can put both your feet flat on the floor and keep your hips at a 90° angle to encourage better posture.
You should be able to fit at least 3 or 4 rows of standard shoes under a bench seat of this height: just make sure you’re purchasing a bench with a depth of over 15” so that you’re catering for any length or size of shoe. A US men’s size 13 is just under 12” long, so you don’t want to invest in a bench that’s narrower than that.
If you put this bench seat in the foyer or entryway of your house, you should measure the dimensions of this space before deciding upon which bench seat to purchase. A typical storage bench measures 40”-65” in width, so there’s enough room for 2 or 3 people to sit down comfortably.