Apart from appearing in every episode of The Vicar of Dibley, Waldhorn has also made many television appearances since the 1970s including Softly, Softly, The Sweeney, Space: 1999, The New Avengers, Brideshead Revisited, The Professionals, Minder, Robin of Sherwood, Rumpole of the Bailey, The Bill, Heartbeat and Lovejoy. He also played Lionel Bainbridge in the first three series of Brush Strokes, and Richard Beamish in the first series of All at No 20.
