Waldron said she wanted to thank her fellow RSA members and the community for their fantastic support to her and her family, including after her daughter's death in 2016.
She officially stepped down on Saturday at Tauranga RSA's 100th annual general meeting when vice-president Fred Milligan was elected the new president.
Tauranga RSA vice-president Paul Anderson said Waldron had done herself proud in the role she was elected to three times in three years.
"Heather has been very much a hands-on president, and she was always passionate about doing her very best on behalf of the association and all our members.
"Being ex-navy, not surprisingly Heather ran a pretty tight ship, which is what you want when you're the face of the Tauranga RSA and hold such a responsible position."
Waldron is also a former Leading Wren with the New Zealand Navy.
Fellow RSA member and friend Russell Williams said Waldron had been "very active" since she joined Tauranga RSA in 1987.
"Heather has also been a tireless worker for the RSA Welfare Trust, and she held many other leadership roles on her way to being elected president of Tauranga RSA in 2015.
Waldron was vice-president of Tauranga RSA for two years and was also the RSA cadet liaison officer for "many years", Williams said.
"Heather has been a true community worker," he said.
A life member of the Bay of Plenty Justices of the Peace Association, she was also the education-trainer of all the new JPs in the areas for many years.
Despite not being a member of Rotary, Waldron was recognised for her community service with a Rotary International Paul Harris Fellowship in 2010.
This week Tauranga RSA holds a series of celebratory events to mark its 100th year, including a high tea today for the women's section, served by the executive committee.