Adelaide of Waldeck () 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 (127–1341), Bishop of Paderborn Herman (d. ), a cleric Hendrik (d. ), a cleric Diedrich (d. after 8 September 1326), Knight in the Teutonic Order Simon (d. ) 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 to John II, Count of Bentheim (d. 1332) Adelaide, married Herman II of Everstein-Polle (about September 29, 1324?) (d. ) Hedwig (d. after March 5, 1369), married Count Adolph VII of Holstein-Pinneburg and Schauenburg (d. 1352)
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