Waldorf is a municipality belonging to the Verbandsgemeinde Bad Breisig in the district of Ahrweiler, in Rhineland-Palatinate, Germany.

Waldorf is located in the eastern foothills of the Eifel in the Vinxt Valley between Sinzig and Niederzissen, below the Bausenberg, an extinct volcano.

The lava flow flew along the today's southern border of the village.

At the western border of the village the Bundesautobahn 61 crosses the Vinxt Valley with the Vinxtbachtalbrücke.

Eugen Ewig, a local historian, found out that first signs of settlement prove the existence of Waldorf in 646.