The eldest son of the 3rd Earl of Waldegrave, he was educated at Eton and was commissioned into the 3rd Foot Guards in 1768. He purchased a Lieutenantcy in 1773. In 1778 he transferred to the Coldstream Guards as a Captain-Lieutenant and was soon a Lieutenant-Colonel. In 1779 he was appointed Lieutenant-Colonel Commandant of the new 87th Regiment of Foot. He inherited his father's titles in 1784. On 5 May 1782, Waldegrave married his first cousin, Lady Elizabeth Waldegrave and they had five children.
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