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Waterloo, located in the rolling countryside of Laurens County, traces its origins to the early 19th century when settlers began farming the fertile lands near the Reedy River and Saluda River watersheds. Before European arrival, the area was inhabited by Cherokee and other indigenous peoples who relied on the rich natural resources of the Piedmont region. The town's name, according to local lore, may have been inspired by the famous Battle of Waterloo, reflecting a period fascination with European events. The community developed around small agricultural settlements, and by the mid-1800s, Waterloo had become a hub for local trade and communication within western Laurens County.

Agriculture formed the backbone of Waterloo's early economy. Cotton and corn dominated the landscape, with small family farms producing crops that sustained both local consumption and regional trade. The arrival of gins and mills helped process raw materials, while merchants and craftsmen provided essential goods and services to the growing population. Like much of the South, Waterloo's economy was deeply affected by the Civil War and Reconstruction, but resilient farmers and entrepreneurs rebuilt the town's agricultural base in the decades that followed.

Infrastructure development in the late 19th and early 20th centuries brought renewed growth. Rural roads were improved, connecting Waterloo to Laurens, Clinton, and other regional markets. The introduction of rural mail delivery and improved communication networks helped integrate Waterloo more closely with the rest of Laurens County. Later, state highways such as SC Highway 39 and nearby U.S. Route 221 provided easier access to commerce and employment opportunities. Though small in size, Waterloo benefited from its proximity to larger towns while maintaining a quiet, close-knit rural atmosphere.

The town's character has long been defined by its agricultural roots and strong community institutions. Churches, schools, and volunteer organizations have historically served as the social heart of Waterloo. Annual events, such as local fairs and seasonal gatherings, celebrate the town's farming traditions and reinforce the strong sense of belonging among residents. Generations of families have lived and worked in Waterloo, creating a legacy of perseverance and pride that continues to shape the area's identity.

In modern times, Waterloo offers a peaceful rural lifestyle with access to nearby recreational destinations such as Lake Greenwood, a popular spot for fishing, boating, and camping. The town remains surrounded by scenic farmland and forests, attracting residents who value open spaces and a slower pace of life. While retaining its small-town charm, Waterloo benefits from its proximity to larger cities like Laurens and Greenwood, making it an appealing home base for those seeking both tranquility and convenience.