His family originated in the branches of the old Swabian House of Waldburg (Waldpurg), which had settled in the 16th century in what was then the Duchy of Prussia.

The date of his birth is disputed in sources: either 1677[1] or 31 May 1691,[2] possibly in Pillau, where his father was stationed at the fort; his father was lieutenant general Joachim Heinrich Count Truchsess von Waldburg (died 1718) and his mother, Freiin Maria Eleonore von Heydeck (1649–1692).

[4] In 1736 "Trux" was assigned to escort the recently deposed Polish king Stanisław Leszczyński to France on behalf of the Prussian state at the expense of King Frederick William I; Stanisław diverted the journey to Königsberg, in Prussia, where he proceeded to direct guerilla operations against the Russian forces in Poland.

In 1740, the newly crowned Frederick II, with whom he was personally acquainted, appointed him as head of the Infantry Regiment Dönhoff (No.

When Frederick engaged in war against Austria, he assigned to Waldburg and Jakob Friedrich von Bielfeld the task of securing Prussian interests with the House of Hanover.

At the Court of Saint James, Waldburg acquired approval the English Cabinet for the Prussian plans.

"I believe that you are only fifteen [troops] in number, in view of the extraordinary conduct which you have taken from the officers at Olmütz to demand deserters, be wary, or after so many such cases of discontent, you and I will quarrel."