Its new stadium, the 7,500 seater Mandemakers Stadion was opened in 1996 and featured the home match against Roda JC.

At the end of the 2006–07 season, RKC Waalwijk were relegated from the Eredivisie after a defeat in play-offs against VVV-Venlo.

In the season followed they would finish first in the Eerste Divisie promoting back in the top flight of Dutch football.

In 2019, Waalwijk promoted back to the Eredivisie after a five-year absence, after beating Go Ahead Eagles in the play-off finals.

Note: Flags indicate national team as defined under FIFA eligibility rules; some limited exceptions apply.