He was the third, but eldest surviving son of the Count Philip IV (1493–1574) and his first wife, Margaret of East Frisia (1500–1537).
Probably at this funeral, he met Philip's daughter Barbara (1536–1597), the widow of Count George I of Württemberg-Mömpelgard (1498–1558).
Their combined coat of arms can still be found in the stair tower of Waldeck Castle.
Daniel died on 7 June 1577 and was buried in the family crypt in Marienthal Abbey in Netze (now part of Waldeck).
He was succeeded by his younger brother Henry IX, who died later that year, on 3 October.