Andrew Waltfeld, often known by his epithet the Desert Tiger, is a Coordinator who plays a significant role in the conflicts of the Cosmic Era. He first appears as a charismatic and formidable commander in the ZAFT forces, earning his fearsome reputation for his tactical genius in desert warfare. Despite his status as an enemy of the Earth Alliance ship Archangel, Waltfeld is not depicted as a villain. Instead, he is a thoughtful and surprisingly affable individual who deeply contemplates the nature of war and its endless cycles of hatred. His personality is a blend of a laid-back, almost playful demeanor and a serious, professional resolve on the battlefield. He possesses a well-known passion for coffee, often experimenting with different blends, and enjoys hobbies like archaeology and paleontology.

Waltfeld's primary motivation is not blind loyalty to a faction but a pragmatic and philosophical search for a meaningful way to end the conflict. This is evident when he engages pilot Kira Yamato in conversation, challenging him to think about whether total annihilation of the enemy is the only path to peace. His personal journey is marked by a devastating battle against Kira, where his mobile suit is destroyed. Waltfeld survives but loses his left arm, left eye, and his beloved partner and lover, Aisha, who was his co-pilot. This traumatic event fundamentally changes his role. After being rescued, he rejects the extremist path of ZAFT's chairman Patrick Zala. Instead, he joins the Clyne Faction, becomes the captain of the warship Eternal, and allies with the Archangel and the Orb Union ship Kusanagi to fight against the escalating violence from both the Earth Alliance and ZAFT.

Following the first war, Waltfeld relocates to the neutral nation of Orb. Living with Murrue Ramius, the former captain of the Archangel, he now serves as a captain in the Orb military. He remains a key supporter of Lacus Clyne and Kira Yamato, offering them sanctuary. When a second war erupts, his role evolves further. After an assassination attempt on Lacus, he returns to active duty aboard the newly recommissioned Archangel. While he could take command, he chooses to serve as a tactical operator and a mobile suit pilot, demonstrating his lack of ego and his willingness to support the team from any position. He later returns to space to once again command the Eternal as part of the three-ship alliance seeking to end the conflict. Throughout this time, he maintains a strong bond with his loyal adjutant, Martin DaCosta, and shares a deep mutual respect with Kira, their relationship having transformed from bitter enemies to trusted comrades.

Throughout the series, Waltfeld demonstrates notable abilities that extend beyond his piloting skills. His background is in advertising psychology, and he is also an authority on vibration engineering, which contributes to his strategic mind. Despite his severe injuries, his combat prowess remains formidable. He pilots custom mobile suits, including a specialized orange MVF-M11C Murasame and later captures and uses a ZGMF-X88S Gaia Gundam. His prosthetic left arm is not just a replacement but contains a hidden gun, a practical modification for self-defense. His physical injuries do not hinder his ability to pilot effectively, and he remains a capable and vital asset in some of the war's most critical battles, valued for his experience, wisdom, and steady leadership.