He played Gaelic football with his local club Milltown and was a member of the Galway senior inter-county team in the 1970s.
In 1972, Waldron captained Galway to win their first All-Ireland Under-21 Football Championship when they defeated Kerry in the final.
He lost two consecutive All-Ireland Senior Football Championship Finals with Galway after being beaten by Cork in 1973 and Dublin the following year in 1974.
He was a member of both of Milltown's Galway Senior Football Championship winning teams in 1971 and 1981, playing alongside his brother John in both finals.
Waldron served as a selector for the Galway senior team in the early 1990s under John Tobin's management term.