[3] On 24 June 1568 Waldegrave began an eight-year apprenticeship with the London stationer, William Griffith: Robert Walgrave the sonne of Rychard walgrave late of blacklay in the Countye of Worcestre yeoman Deceassed hath put hym self apprentes to Wylliam greffeth Cetizen and stacioner of London from the feaste of the nativite of saynte John bapteste anno 1568 viij yeres.

[7][2][3] Waldegrave's principal place of business was "Without Temple Bar in the Strand", near Somerset House, although in 1583 he was located for a short time in Foster Lane.

In late 1588 and early 1589, Waldegrave embarked on an even more controversial enterprise, printing the first four tracts written against the ecclesiastical authorities by an unknown satirist using the pseudonym Martin Marprelate.

In November the press was moved from East Molesey to Sir Richard Knightley's house at Fawsley in Northamptonshire, where Martin's second tract, The Epitome, was printed.

[15] Shortly thereafter the secret press was moved to the Whitefriars, Coventry, the home of Knightley's great-nephew, John Hales, where Certaine Minerall and Metaphysicall Schoolpoints and Hay Any Worke for Cooper were printed, the former in early January and the latter in late March 1589.

[17][12] Waldegrave had a patron and protector in James VI of Scotland who asked his diplomat Sir Robert Melville of Murdocairny to intercede with Elizabeth for him.

Waldegrave claimed not to understand enough Latin to known that work referred to the succession to the crown of England, and called James VI, "King of all Britain".

Waldegrave told Bowes that he had declined to print the speech or oration made by David Cunningham, Bishop of Aberdeen, at the baptism of Prince Henry at Stirling Castle, which also referred to the succession.

[3] When King James acceded to the English crown, following the death of Queen Elizabeth in March 1603, Waldegrave returned to England, leaving his Edinburgh printing business in his wife's care.

He obtained a licence to print from the Stationers' Company in June 1603, but died later the same year during an outbreak of the plague and was buried at St Mary Magdalen, Old Fish Street, London, on 22 October.