Waynesboro is a borough in Franklin County, Pennsylvania, United States. Located on the southern border of the state, Waynesboro is in the Cumberland Valley between Hagerstown, Maryland, and Chambersburg, Pennsylvania. It is part of Chambersburg, PA Micropolitan Statistical Area, which is part of the Washington–Baltimore metropolitan area. It is two miles north of the Mason–Dixon line and close to Camp David and the Raven Rock Mountain Complex.

Franklin County is a county in the Commonwealth of Pennsylvania. As of the 2020 census, the population was 155,932. Its county seat is Chambersburg.