Haywood made 7 of 9 field goals while Waller hit three 3s and grabbed seven rebounds.
Dana Raysor scored 15, and Devin Morgan Jr. had nine points and a career-high 11 rebounds for Delaware State (3-17, 2-4 Mid-Eastern Athletic Conference).
N.C. Central (7-14, 2-5) led 32-31 at halftime.
After Delaware State scored the first 10 points of the second half, the Eagles' Dante Holmes scored eight during a 21-5 run that was capped by back-to-back 3s by Rashaun Madison for a 53-46 advantage with 11:57 to play.
The Hornets answered by scoring 25 of the final 32 points to seal it.
Madison scored 18, Holmes added 14 and Dajuan Graf scored 12 for N.C. Central. Patrick Cole had 10 points, nine rebounds and eight assists.