In 1396 Walraven took part in the campaigns against the West Frisians, under the command of Albert of Bavaria.
Walraven was made Burgrave of Stavoren on 8 September 1400, but he kept the function for only a short time before relinquishing it again.
He only managed to escape in 1409, having grown much animosity against Jan V van Arkel, who had held him captive for years.
He was a member of the council of the count of Holland, and after the death of William VI he received the temporary function of Stadtholder.
Walraven quickly moved an army to relieve Gorinchem, but in the narrow streets of the city he was struck by an arrow and died.