The Rams had found themselves trailing in the 23rd minute after a Posh opener was started and finished by Jonson Clarke-Harris.
But it was one-way traffic from then on as the Rams went on an almighty attacking raid scoring four times inside 16 minutes against a Posh side who had previously only conceded twice all season.
Their charge was spearheaded by veteran frontman Waghorn, who levelled with a cool volley from a Liam Thompson cross in the 29th minute before Eirin Cashin completed the turnaround with a 37th-minute header from ex-Posh man Nathaniel Mendez-Laing's delivery.
Waghorn, who returned to County for a second spell in the summer, then poked in a Mendez-Laing long shot in the 40th minute to extend the advantage.
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LUKE BOOSTED BY WALES ACE LIAM
Swans bid to mark new era in style...
MATT'S DELIGHT OVER RECORD
WYCOMBE boss Wanderers Matt Bloomfield hailed his history-makers after victory at Lincoln City.
TON-UP IAN ENJOYS HIS SPECIAL WIN
AN Evatt described his 100th win as Bolton boss as very special, although he needed Aaron Collins' injurytime goal to bring up the three figures.
DONS LACK A CLINICAL EDGE AS SADDLERS GRAB POINTS
NATHAN Lowe's strike inspired promotion-chasing Walsall to victory over AFC Wimbledon at the Cherry Red Records Stadium.
SUB GRIMES IS IN-SPIRED TO HEAD THE WINNER
CAPTAIN Jamie Grimes headed in a late winner for Chesterfield after a game of very few chances appeared destined to remain goalless.`
COBBLERS TEST IN TROPHY FOR POSH
HOLDERS Peterborough United have been drawn against fellow League One side Northampton Town in the Round of 32 of the newly-named Vertu Trophy.
HORNETS REMINDED OF GRAY'S BRILLIANCE
WAYNE Rooney expressed his delight as Plymouth extended their unbeaten league home run to six after Andre Gray's last-gasp leveller.
MARTI DOUBTING JOB AFTER DRAW
Rangers home run continues
BIG MAC'S ON TARGET TO SEE OFF THE TIGERS
LUTON boss Rob Edwards felt it was a very good day at the office as his team turned in a gritty performance to beat Hull.
Rohl confident Owls
DANNY Rohl said getting results is the only thing missing as his Owls were held at home by Cardiff.