Harlequins scrum-half Danny Care and Leicester outside centre Anthony Allen also impressed as England ran in eight tries – including a hat-trick for young Wasps star Christian Wade - against limited opposition.
Waldrom scored two while George Lowe, Graham Kitchener and Care also found their way on to the scoresheet. Fly-half Charlie Hodgson kicked 14 points and missed four of his conversions.
The Barbarians were able to exploit gaps in their defence to score four tries, which will leave the tourists’ coach Stuart Lancaster unimpressed.
Barbarians scored the opening try on three minutes through No.8 Jacques Engelbrecht after kicking a penalty to the corner and forcing their way over.
England reset themselves and worked their way back to 7-6 thanks to a pair of penalties from Hodgson. Waldrom was then unfortunate to see a certain try denied by hardline referee Jonathan Kaplan – who judged that his pass to inside centre Jordan Turner-Hall was forward – before scoring himself, battering through on 18 minutes.
England made it three tries in four minutes with Wade finishing off a Care grubber kick expertly before wing Lowe ran the ball in from a Turner-Hall pass.
James Haskell paid the price for the multitude of penalties awarded by Kaplan, sent to the bin on 32 minutes, and England had to dig in for a sustained spell of defence until half-time which saw the Barbarians score once through hooker Hannes Franklin. The score was 25-14 at the break.
Ten minutes into the second half Waldrom added a second try as he broke out of the scrum to push back opposition scrum-half Boela Abrahams – and two other players – and score under a heaving mass of bodies.
But England’s indiscipline was again in evidence as Normal Nelson was allowed to snatch up a loose ball and dart through to touch down for the hosts.
The response was immediate, quick hands from Hodgson and Allen allowing Kitchener in to score, and five minutes later the scoreline was 40-21 when Allen led a counter-attack after blocking a pass and offloaded to the sprightly Wade - who had also made the tackle immediately prior to the interception.
Nelson gave Ntabeni Dukisa the chance to run in from close to his own try-line with 15 minutes left, with no England players anywhere near him.
There were two tries late on for the tourists as first Care sneaked in following good work by Hodgson then Wade completed his hat-trick in injury time after Care’s clever carry and offload.
England, who lost the first Test against South Africa last weekend, have another chance on Saturday when they contest the second of three matches against the Boks in Johannesburg.