This question already has an answer here:
I'm using ArcMap and I want to create DEM(s) over an area to have different outputs depending on which settings/filters I put in. I have access to laser point cloud data as my input files. I've worked with the LAS dataset tools but I'm not really sure if I'm doing everything correct or not. Because the points aren't regular, maybe some interpolation method is needed first? The problem with that is, I don't have any input point features.
This link describes fairly good the steps I've made: http://www.edc.uri.edu/blog/using-las-datasets-create-functional-outputs