While still an undergraduate at Pepperdine, Waldron’s interest in missions led him to become the minister for a Japanese-American congregation in Los Angeles. Following graduation in 1963, he and his wife served the church in Juneau, Alaska.

Waldron earned a master's degree in missions at Abilene Christian University, Abilene, Texas, and the family moved to Guatemala in 1972 as missionaries, where they served for six years.

After their return to the United States, Waldron taught missions for 13 years at Bear Valley School of Biblical Studies in Denver and Abilene Christian University.

In an effort to plant churches in the state and federal capitals of South America, he served as co-director of the Continent of Great Cities Ministry for 10 years.

In 1998 he earned a doctorate in missions from Trinity Evangelical Divinity School near Chicago, with an emphasis on urban church planting.

The couple has three children and eight grandchildren.