Henry Waldegrave, 1st Baron Waldegrave

Henry Waldegrave, 1st Baron Waldegrave (1661 – 24 January 1689), was an English peer. He was the son of Sir Charles Waldegrave, 3rd Baronet, and Eleanor Englefield, Lady Waldegrave. Eleanor was the daughter of Sir Francis Englefield, 2nd Baronet.

Waldegrave inherited his father's baronetcy, becoming the 4th Baronet Waldegrave of Hever Castle, around 1684. In 1686, through his marriage, he was elevated to the peerage as Baron Waldegrave of Chewton, Somerset.

He held the office of Comptroller of the Household starting in 1687 and continued in this role during the King's exile at Saint-Germain-en-Laye until his death in 1689. In 1688, Waldegrave succeeded Bevil Skelton as the English Ambassador to France, serving until 1689.

On 29 November 1683, he married Henrietta FitzJames, an illegitimate daughter of King James II of England and his mistress Arabella Churchill. Arabella Churchill was the sister of John Churchill, 1st Duke of Marlborough. Henry Waldegrave and Henrietta FitzJames had three children:

- James Waldegrave, who later became the 1st Earl Waldegrave (1684–1741). He married Mary Webb, daughter of Sir John Webb, 3rd Baronet, in 1714.

- Hon. Arabella Waldegrave (1687–1740), who became a nun.

- Hon. Henry Waldegrave (1688–c.1726).

Henry Waldegrave died on 24 January 1689. After his death, his widow married Piers Butler, 3rd Viscount Galmoye.

His son James Waldegrave was a grandfather to subsequent titleholders, including James Waldegrave, 2nd Earl Waldegrave; John Waldegrave, 3rd Earl Waldegrave; and Lady Henrietta Waldegrave. Lady Henrietta married Lord Edward Herbert, son of the 2nd Marquess of Powis, and later John Beard, a singer at Covent Garden. Henry Waldegrave was a seventh great-grandfather of Diana, Princess of Wales, first wife of Charles III.