Waltrip drove his No. 55 NAPA Auto Parts Toyota in 50.648 seconds (189.070 mph) around the 2.66-mile Talladega Superspeedway Saturday, beating out Dave Blaney in another Toyota.
Blaney's time was 50.710 seconds.
The pole victory was Waltrip's first this season and fourth of his Nextel Cup career.
"There have been a lot of Sunday afternoons when this car wasn't on the track," Waltrip said. "To have it on the track in front of everybody when they start tomorrow afternoon is going to be a really proud moment."
Brian Vickers (50.726) and Joe Nemechek (50.809) will make up Row 2.
It will be the fourth race in the 10-race "Chase for the Nextel Cup."