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Waco is located in the eastern part of Cleveland County, within the rolling hills of North Carolina's Piedmont region. Before European settlers arrived, the area was home to Indigenous peoples such as the Catawba Nation, who relied on the fertile soil, streams, and forests for sustenance. As settlers moved into the Piedmont during the 18th century, small farming communities began to appear throughout the region. Cleveland County itself was established in 1841, and Waco emerged soon after as an agricultural settlement. The community originally developed under the name "Ramsey Crossings," named for a local landowner and farmer, before officially becoming "Waco" in 1880. The name was reportedly chosen in honor of the Texas city by a resident who had traveled west and returned home inspired by the name.

Throughout the 19th century, Waco's economy was centered around farming and local trade. Cotton became a major cash crop, while corn, hay, and livestock provided steady income for local families. General stores, blacksmith shops, and feed mills sprang up to serve nearby farms. By the late 1800s, the community had grown enough to support its own school, church congregations, and a small business district. The agricultural rhythms of planting and harvest defined life for generations, and the town's reputation as a quiet, hard-working rural community became deeply ingrained.

The development of rail lines and later paved roads helped connect Waco to larger markets. Early dirt roads were replaced by state highways, and the arrival of the railway made it possible to ship cotton, produce, and other goods efficiently. By the mid-20th century, electricity, modern schools, and improved infrastructure brought new conveniences to residents. Although Waco never became a large industrial hub, its steady pace of development and emphasis on family and farming created a strong, enduring local identity.

The community's character today is deeply rooted in its rural history. Residents value family, church, and small-town pride. Annual gatherings, community events, and agricultural traditions are still celebrated. Waco has maintained a balance between modernization and preservation, with its small population contributing to a strong sense of belonging and mutual support among neighbors.

In modern times, Waco has become an appealing residential area for those seeking a peaceful lifestyle close to cities like Shelby and Gastonia. It offers the charm of country living with access to nearby urban amenities. Rolling farmland, historic churches, and scenic drives define the area, while its proximity to larger transportation routes makes it an attractive spot for families and retirees alike.