Here are a few ideas and things that can balance the types of mechs were talking about. (For reference to the rest of this Google "Titanfall Titan Height.)
1. Not all mechs are equal. I will use Titanfall 2 for an example, a standard issue Titan has few defense systems and limited A.I. while Vanguard Class Titans are equipped with regenerative energy shields and A.I. so advanced they are legally alive. Make it so that player characters don't have a Vanguard Class titan off the bat.
2. A mech might be big and scary, but it is still limited. A fast moving rogue with a grenade launcher, a powerful psionic attack, a well placed rocket, or just sheer overwhelming gunfire could cripple a mech of the size were talking about. Bigger mechs would be like Archmage Variel said epic/mythic level.
3. Take your fights to the z-axis. If your adding mechs, make the area in which you encounter said mech peppered with areas that the mech cannot reach and high and low points that characters can climb to put pressure on the mech with gunfire. If a character or the entire party is using a mech, don't be afraid to give them a few times that they can gun down an infantry squad. Let them let their guard down for that mech armed with an armor piercing railgun that can see them immediately because they have no cover.
4 (Bonus). Make sure that the mech is able to be customized. Not as in sheer "I can deal/take more damage", I mean if a player killed a monster and took its skull as a trophy, let them put it on the front of their mech as a way of customization. Or if they are now favored by a faction, let them emblazon the factions symbol, have some of the mech sculpted to show something like wings on the shoulder pads. This plus paintjobs and decals (think WW2 plane decals) would add depth in my opinion.