Waldorf is located in the eastern foothills of the Eifel in the Vinxt Valley between Sinzig and Niederzissen, below the Bausenberg, an extinct volcano. Waldorf is marked by the Geology of the Bausenberg. The lava flow flew along the today's southern border of the village. At the western border of the village the Bundesautobahn 61 crosses the Vinxt Valley with the Vinxtbachtalbrücke.