The Leicester number eight linked up with the squad, having initially been called out to New Zealand last week as injury cover for Nick Easter.
Sheridan suffered his tournament-ending shoulder injury in England's opening Pool B victory over Argentina a fortnight ago but Johnson decided against calling for an immediate replacement.
The England medics have been assessing Easter's bad back, which ruled him out of the Georgia and Romania games, and Matt Stevens' ankle problem.
But Johnson has today decided to stick with four props in his 30-man squad and strengthen England's back row options with the inclusion of Waldrom.
"Nick is making good progress as is Matt Stevens but with Thomas now out here it makes sense to get him into the squad officially so he can join in with training," said Johnson.
"We also owe it to Leicester to make a decision so that they can plan accordingly without him."
Waldrom was a member of England's initial 45-man World Cup training squad but he was hampered by a calf injury and was cut before the August warm-up internationals.
The 28-year-old had played in Leicester's first three Aviva Premiership games before being called out to his native New Zealand as cover last week. Waldrom was born in Lower Hutt, near Wellington, and only discovered in March that he qualified for England courtesy of his grandmother.
England's decision is a blow to Leicester, who signed him from the Crusaders last year on the understanding they would not lose him to international duty.
The Tigers, beaten by 50-25 by Saracens yesterday, have now lost 12 players to the World Cup and are short of England flanker Tom Croft plus injured loose-forwards with Craig Newby and Jordan Crane.
Gilbert has released a new line of rugby cleats. The Gilbert Virtuo 8S is part of the exciting new product. Check it out.
The entire All Blacks apparel line has been updated for 2013/14. Check out the New Zealand All Blacks polo.
The Nike Tiempo is a solid rugby cleat and one of few styles still made from full-grain natural leather.
The Gilbert Blitz 8S rugby cleat is a great cleat at a great price of $69.99. Get a new pair of cleats today.
A cool looking all black rugby cleat with the high performance adidas is known for. Get in the Gear!
Wear the crest of the British and Irish Lions on your t-shirt. A great look for the summer.
$29.99
The All Blacks Performance t-shirt is black with hints of blue from the training jersey. Very Cool.
The New Zealand All Blacks training jersey for 2013/14. Get in the Gear!
The USA Rugby Pro Alternate rugby jersey is perfect for any fan of the Eagles. Get yours to wear during the summer Test matches.
The NEW All Blacks 2013/14 jersey has arrived at World Rugby Shop. Dare to wear the colors of the All Blacks.