Waleran was the son and successor of Henry IV and Ermengarde, countess of Berg.
In 1272, he was party to the nobles who offered the crown to Ottokar II of Bohemia and then Rudolph of Habsburg.
In 1252, he intervened in the War of the Succession of Flanders and Hainault, at the side of Jean d'Avesnes.
Waleran frequently intervened in the business of the archbishop of Cologne in his constant fight with the bourgeoisie of the city.
His daughter with Jutta, Ermengarde, succeeded him as Duchess of Limburg and married Reginald I of Guelders.