Located on the southern border of the state, Waynesboro is in the Cumberland Valley between Hagerstown, Maryland, and Chambersburg, Pennsylvania.

It is two miles north of the Mason–Dixon line and close to Camp David and the Raven Rock Mountain Complex.

The Waynesboro Area School District serves a resident population of 33,182, according to 2020 federal census data.

The region around Antietam Creek had been home to Native Americans, primarily Susquehannock and Lenape, for thousands of years prior to settlement by Anglo-Europeans in the mid-18th century.

[5] In 1797, John Wallace, a son of the original Scottish settler, laid out the town of Waynesburg in Franklin County, Pennsylvania.

[6] The place originally incorporated as Waynesburg borough on December 21, 1818, however that charter was repealed March 30, 1825.

It is one of several dozen towns, cities, and counties named after General Anthony Wayne, a hero of the American Revolution.

It was known for the manufacture of engines, boilers, grinders, threshers, boring machines, bolt cutters, wood and iron workers' vises, nut facers, etc.