wˈɔːldoːɹf wʌz fˈaʊndᵻd ɪn wˈʌn θˈaʊzənd sˈɪkshˈʌndɹɪd nˈaɪnti nˈaɪn æz "wˈɔldənsɚkˌɑːloʊni ɐm ɡˈʌndhɑːf", wʌz ɡˈɪvən ðə nˈeɪm wˈɔːldoːɹf ɪn wˈʌn θˈaʊzənd sˈɛvənhˈʌndɹɪd fˈɪftiːn ænd wʌz ɹˈeɪzd tə tˈaʊn stˈæɾəs ɪn nˈaɪntiːnhˈʌndɹɪd sˈɪksti tˈuː.
Walldorf was founded in 1699 as "Waldenserkolonie am Gundhof", was given the name Walldorf in 1715 and was raised to town status in 1962.