Helena was born at Arolsen, Waldeck and Pyrmont the third child and first daughter of Friedrich, Prince of Waldeck and Pyrmont (1865–1946), and his wife, Princess Bathildis of Schaumburg-Lippe (1873–1962), daughter of Wilhelm Karl August, Prince of Schaumburg-Lippe.
She was a first cousin of Queen Wilhelmina of the Netherlands. 22 December 1899 – 26 October 1921: Her Serene Highness Princess Helena of Waldeck and Pyrmont 26 October 1921 – 18 February 1948: Her Royal Highness The Hereditary Grand Duchess of Oldenburg Title in pretence: 24 February 1931 – 18 February 1948: Her Royal Highness The Grand Duchess of Oldenburg.
