What is now the Waldorf area was originally part of the territory of the Piscataway Indian Nation, along with all of Southern Maryland, including Charles County.

[3] Close to the current western Waldorf area, the presence of villages, Indian grave sites (holding remains of over 1,000 people) and hunting encampments of Native American / Indian peoples have been confirmed, by archeological study of evidence dating from 1690 back to 6,000 years ago.

During his flight after assassinating Abraham Lincoln, John Wilkes Booth told a road sentry he was headed to his home in Charles County near Beantown and was allowed to proceed.

[6] Booth later received medical attention for his broken leg from Dr. Samuel A. Mudd at his home in Waldorf, before continuing his flight.

[9] Once a tobacco market village, Waldorf came to prominence in the 1950s as a gambling destination after slot machines were legalized in Charles County in 1949.

[12][13] The climate in this area is characterized by hot, humid summers and generally mild to cold winters.

Waldorf is predominantly a bedroom community for many residents who commute to work at other points in the Washington metropolitan area.

[24] U.S. Route 301, the main highway through the city, boasts the "Waldorf Motor Mile,"[citation needed] with car dealerships located primarily along the northbound side.

The Southern Maryland Blue Crabs, established in 2006, complete in the Atlantic League of Professional Baseball and play at the stadium.

The Capital Clubhouse is a 90,000 square foot sports complex, including an ice skating rink and multi-sports center; a recreational ice rink, a hockey center and training facility, rock wall climbing gym, and numerous other sports and fitness gyms / fields in Waldorf.

[33][34] The largest one of the four campuses of College of Southern Maryland is located minutes away, between Waldorf and La Plata.

[citation needed] Waldorf has seven park & ride lots served by MTA Maryland routes: two at St. Charles Towne Center, one at St. Charles Towne Plaza, one at Smallwood Drive and US 301, a very large one on Mattawoman Beantown Road, one at Smallwood Village Center, and one at Regency Furniture Stadium.

[37][38] CPV St. Charles Energy Center operates a natural gas power plant in Waldorf, generating electricity for over 700,000 regional customers.

[39] The regional energy grid was previously served by the Morgantown Generating Station, a coal-fired plant that closed in 2022.