Adelaide of Waldeck (c. 1264 – c. 1339-1342) was a daughter of Lord Henry III of Waldeck and his wife Matilda of Arnsberg-Cuyk (also known as Matilda of Rietberg-Arnsberg).

She married on 24 November 1276 to Simon I of Lippe and had the following children:

• Bernard (1277-1341), Bishop of Paderborn
• Herman (d. c. 1324), a cleric
• Hendrik (d. c. 1336), a cleric
• Diedrich (d. after 8 September 1326), Knight in the Teutonic Order
• Simon (d. c. 1332)
• Otto († 1360), Lord of Lippe in Lemgo
• Bernard V (d. before 1365), Lord of Lippe in Rheda
• Adolph
• Matilda (d. after 9 April 1366), married c. 1310 to John II, Count of Bentheim (d. 1332)
• Adelaide, married Herman II of Everstein-Polle (about September 29, 1324?) (d. c. 1351)
• Hedwig (d. after March 5, 1369), married Count Adolph VII of Holstein-Pinneburg and Schauenburg (d. 1352)