Causal inference with the difference-in-differences (DID) framework is popular in identifying causal effects with observational data and has started to be applied in recent travel behaviour studies. Most relevant transportation research adopts the conventional linear parametric DID model, which is known to be inflexible and restrictive. This study applies non-parametric DID estimators facilitated by machine learning (ML) models for causal inference in a variety of data scenarios. Semi-parametric and doubly robust estimators are established and integrated with the ML-based cross-fitting pipeline. Simulation studies and empirical case studies are conducted to showcase the ability of ML-based DID to detect causal effects from both simulated and real-world datasets. Results suggest that the proposed methods outperform conventional DID models in all data scenarios. Light working models are generally preferred over hyperparameter-dependent ones for their comparable performance, lower computational burden, and higher levels of compatibility to real-world empirical analysis. Empirical case studies also demonstrate how the proposed DID method could be applied to evaluate the impacts of various interventions on travel behaviour in different contexts. The present study adds to the existing travel behaviour literature by leveraging machine learning algorithms and non-parametric estimators to the impact evaluation of external interventions on travel characteristics and expanding the application of causal inference approaches in transportation research.