Born in Wargrave, Berkshire, Waldron was educated at Charterhouse School, and Clare College, Cambridge.
Waldron then returned to the Metropolitan Police, but was appointed an Assistant Chief Constable of Lancashire Constabulary in 1951.
[5] In 1965, Waldron was responsible for organising the policing of the funeral of Sir Winston Churchill, a duty for which he was appointed Knight Commander of the Royal Victorian Order (KCVO) in the 1966 Birthday Honours.
The appointment was assumed by many to be a temporary fill-in role, but circumstances such as a rise in police salaries and pensions, and the fall of the Labour government in 1970 saw Waldron stay on for several years longer than expected.
Waldron retired on 31 March 1972, although several allegations of corruption within the police force during the last days and after his tenure tainted his reputation somewhat.