Waldo is a village along the Onion River in Sheboygan County, Wisconsin, United States.

The village was originally established as Lyndon Station (named for the town it resides in) when the Milwaukee and Northern Railway Company laid their tracks through in 1871.

Starting in Milwaukee by 1873 the line had reached Green Bay, Wi.

The village was plated in 1873 by N.C. Harmon on 80 acres of land that he and his son-in-law Eugene McIntyre had purchased from Abraham Lawson.

When it was discovered that there already was an existing Lyndon Station in Juneau County, it was decided to rename the village after Otis Harvey Waldo, a prominent Milwaukee attorney and then president of the railroad.

In 1923 Waldo became an incorporated village and Onion River ceased to exist.

The Waldo Mill Pond has a normal surface area of 40 acres (160,000 m2), currently used only for recreational purposes.

The dam and the related mill pond property are now owned by the village of Waldo.

The Waldo Cemetery in the northeast corner of the village is one of the oldest in the county, established in 1854.

The former Waldo High School building still stands on the highest point in the village, built in 1904 and expanded in 1957.

24.4% of all households were made up of individuals, and 8.1% had someone living alone who was 65 years of age or older.