The deaths within the space of 14 months of his paternal grandfather, Sir William Waldegrave, and his own father left him heir to a large estate and fortune at the age of 20.
[1] After inheriting the family estate, Waldegrave combined local administration with attendance at court and military service.
[1] He was known for his loyalty to the Crown and in the autumn of 1536 he was one of a group of men whom Thomas Howard, 3rd Duke of Norfolk believed would quell any rising in Suffolk.
In 1542, Waldegrave served under the Duke of Norfolk's command in the war against Scotland, and two years later he captained 60 of his own men in the French campaign.
Following Edward VI's death in the summer, William Cecil listed Waldegrave among potential supporters of Lady Jane Grey, but on being summoned to Kenninghall, Norfolk by Mary on 8 July 1553 he joined her in her successful bid for the throne.