Waugh began his innings with 9,931 runs to his name and quickly wiped out the remaining 69 he required as Australia reached 158-5 in their first innings.
The 37-year-old joined fellow Australian Allan Border (11,174) and former Indian captain Sunil Gavaskar (10,122) as the only players in the 127-year history of Test cricket to reach the magical milestone.
Waugh also matched Border's world record of 156 Test appearances when he took the field at the start of the fifth and final Ashes Test at the Sydney Cricket Ground.