The Southern League Premier Central outfit, the lowest-ranked team in the first round, took the lead through Waldron’s 19th-minute finish, and he then struck again five minutes into the second half.
Cheltenham’s Ryan Jackson replied four minutes later, but Alvechurch were able to see out a famous victory.
Sixth-tier Chippenham also celebrated an upset against League One opposition after they won 1-0 at home against Lincoln thanks to Joe Hanks’ 44th-minute goal.
And Farnborough and King’s Lynn, two other sixth-tier teams, both produced shocks at League Two sides, beating Sutton 2-0 and Doncaster 1-0 respectively.
Farnborough scored twice late on via Michael Fernandes and Francis Amartey, and Gold Omotayo was the match-winner for the Linnets with an 83rd-minute header.
— Emirates FA Cup (@EmiratesFACup) November 5, 2022
Other tier six teams registering eye-catching results were Ebbsfleet, who defeated National League Halifax 2-1 at home, and Weymouth, Fylde and Chelmsford, who all earned replays from ties against teams from higher leagues.
Weymouth held AFC Wimbledon to a 1-1 draw, Fylde secured the same result against Gillingham, and Chelmsford drew 1-1 at Barnet courtesy of a stoppage-time Charlie Ruff effort.