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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Dutch star gives the Clarets an extra edge
BURNLEY couldn't hit a barn door during the autumn, and were widely expected to splash the cash on a striker this month.
POMPEY'S RECOVERY IS RITCHIE DESERVED!
MATT Ritchie's first two Fratton Park goals as a Portsmouth player is completing \"unfinished business\" according to John Mousinho, after Pompey beat Middlesbrough.
LAMPARD APPLAUDS BATTLING SKY BLUES
FRANK LAMPARD is satisfied with the progress his Coventry City players are making, praising their character and determination in overcoming a classy Bristol City side.
ROBINSON HITS BRACE AS THE BLUEBIRDS NET DERBY SPOILS
Emotional week for Riza ends on a high
McGOLDRICK DOUBLE PUTS COUNTY FIFTH
STUART praised Sprais County Maynard the Notts set-pieces as they scored twice from corners in a win over struggling Accrington Stanley.
If Enzo finds form, the fee's a bargain
ENZO Le Fee's loan move from Roma to Sunderland is a gamble.
HUNGRY ACE JOE ON GOAL MISSION
JOE Taylor is ready to unload six months of pent-up frustration after completing a £3m switch from Luton to Huddersfield.
BANNAN, MULLIN & COOK NET AWARDS
BARRY Bannan, Paul Mullin and Andy Cook are celebrating winning the Sky Bet EFL Goal of the Month awards for December.
JAY EYES MORE CUP HEADLINES
Defender ready for Eagles...
DI'SHON'S FOCUS IS ON THE DERBY
Players to ignore off-pitch tensions