The right-hander was recalled from Triple-A Rochester after Wednesday's 12-5 loss to the White Sox. He was expected to be made part of the 'pen after Spring Training, but a right elbow strain in late March derailed those plans. He began the season on the disabled list.
"It feels good," Waldrop said. "It's been a crazy year. Been all over the place. It was bittersweet being up here the first of the season. It was fun being up here, but terrible in the situation being on the DL. It made my drive that much harder to get back and obviously this is where you want to be. It was a lot of hard work and it was a process with the rehab that I had to go through."
Waldrop made his first rehab appearance with Class A Fort Myers in mid-May, but was shut down after experiencing soreness in that right elbow. He was activated June 1 and has since thrown 14 1/3 innings, recording a 1.26 ERA.
Most importantly, his elbow felt fine.
"There was a stretch where I threw four out of six days, that was kind of turning the corner mentally, because I knew I could do it," he said. "And getting out there as much as I was helped me get my feel back for pitches. I was a little sharper those days, even the second and third day I was throwing, I was starting to feel better."
Minnesota manager Ron Gardenhire said he will likely use the sinkerballer in the sixth and seventh innings.
"It was unfortunate that he got hurt," Gardenhire said. "I'm excited to see him get back out there healthy and see what he can do."
Waldrop saw his first action in the Twins' 4-3 loss to the Royals on Friday night. The right-hander tossed 1 1/3 scoreless innings in relief.