[1] Waldhauser was born in South St. Paul, Minnesota, and is a graduate of Bemidji State University.

He also had duty at Headquarters, United States Marine Corps, and the Pentagon with the Joint Staff Combating Terrorism Directorate (J-34).

From 2006–2007, he served as Chief of Staff, United States Special Operations Command, in Tampa, Florida.

Promoted to lieutenant general in 2009, Waldhauser served as the Deputy Commandant for Plans Policies, and Operations during 2009–2010.

Waldhauser served as the Senior Military Assistant to the Secretary of Defense from October 2012 through September 2013.