Waltheof was high-reeve or ealdorman of Bamburgh (fl. 994). He was the son of Ealdred and the grandson of Oswulf I and was father of Uhtred the Bold, Ealdorman of Northumbria.
The name 'Waltheof' remained in his family when Earl Siward married his great-granddaughter and named his son Waltheof. This son of Siward became Waltheof, Earl of Northumbria, and one of his descendants was Saint Waltheof of Melrose. Additionally, another branch of the family would use the Waltheof name including: Waltheof of Allerdale, who was the son of Gospatric, Earl of Northumbria. Waltheof of Inverkeithing and Dalmeny was the son of Cospatric, and the grandson of Waltheof of Allerdale. Another descendant of Gospatric, Earl of Northumbria was Waltheof, Earl of Dunbar.