Waldegrave was born into a prosperous
Suffolk family, the eldest son of Sir George Waldegrave of
Smallbridge Hall,
Bures St Mary, Suffolk and Anne Drury, the daughter of
Sir Robert Drury of
Hawstead, Suffolk. He was brought up at his maternal grandfather's house. 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. While on his deathbed, his father secured for Waldegrave an advantageous marriage to a Suffolk heiress. After inheriting the family estate, Waldegrave combined local administration with attendance at court and military service. He was knighted by
Henry VIII at the coronation of
Anne Boleyn, and headed the commission to take the
Oath of Succession in Suffolk. 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. His election to the Parliament of 1545 reflected this recent military experience as much as his own standing in Suffolk and may have been promoted by his uncle, Sir
William Drury, as
Sheriff of Norfolk and Suffolk. Although he was not to be re-elected, early in January 1553 the Council considered him for nomination with Sir William Drury as Knights of the Shire for Suffolk in the forthcoming Parliament, but in the event nominated Sir
Henry Bedingfeld with Drury. 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. Later he heard the indictments in Suffolk against Jane's adherents. ==Family==